Before revision:  This paper introduces a novel analytical approach that poses the problem of safe trajectory planning under occlusions as a hybrid zero-sum dynamic game between the autonomous vehicle (evader) , and an initially hidden traffic participant (pursuer).
After revision:  This paper introduces a novel analytical approach that poses the problem of safe trajectory planning under occlusions as a hybrid zero-sum dynamic game between the autonomous vehicle (evader) and an initially hidden traffic participant (pursuer).