TY - GEN
T1 - The pursuit-evasion-defense differential game in dynamic constrained environments
AU - Fisac, Jaime F.
AU - Sastry, S. Shankar
N1 - Publisher Copyright: © 2015 IEEE.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - Dynamic multi-player games are powerful abstractions of important real-world problems involving multiple interacting agents in both cooperative and adversarial settings. This paper studies a three-player differential pursuit-evasion game in which a pursuer aims to capture a fleeing evader while a third player, the defender, cooperates with the latter by attempting to intercept or delay the pursuer to avoid capture. Our analysis considers time-varying dynamics and allows the presence of possibly moving obstacles in the domain. We apply a recent theoretical result to express the outcome of the game through the solution of a double-obstacle Hamilton-Jacobi-Isaacs variational inequality, and propose a novel approach to break down the problem into two simpler two-player games with dynamic targets and constraints, which can be solved at a much lower cost. Although conservative, this method guarantees correctness of the computed winning region and strategy for the evader-defender team when a feasible escape solution is found. We demonstrate both the full solution and the approximation method through a numerical example.
AB - Dynamic multi-player games are powerful abstractions of important real-world problems involving multiple interacting agents in both cooperative and adversarial settings. This paper studies a three-player differential pursuit-evasion game in which a pursuer aims to capture a fleeing evader while a third player, the defender, cooperates with the latter by attempting to intercept or delay the pursuer to avoid capture. Our analysis considers time-varying dynamics and allows the presence of possibly moving obstacles in the domain. We apply a recent theoretical result to express the outcome of the game through the solution of a double-obstacle Hamilton-Jacobi-Isaacs variational inequality, and propose a novel approach to break down the problem into two simpler two-player games with dynamic targets and constraints, which can be solved at a much lower cost. Although conservative, this method guarantees correctness of the computed winning region and strategy for the evader-defender team when a feasible escape solution is found. We demonstrate both the full solution and the approximation method through a numerical example.
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U2 - https://doi.org/10.1109/CDC.2015.7402930
DO - https://doi.org/10.1109/CDC.2015.7402930
M3 - Conference contribution
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4549
EP - 4556
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -