Cooperative versus decentralized strategies in three-pursuer single-evader games
Optimization and Control
2020-01-27 v1 Robotics
Abstract
The value of cooperation in pursuit-evasion games is investigated. The considered setting is that of three pursuers chasing one evader in a planar environment. The optimal evader trajectory for a well-known decentralized pursuer strategy is characterized. This result is instrumental to derive upper and lower bounds to the game length, in the case in which the pursuers cooperate in the chasing strategy. It is shown that the cooperation cannot reduce the capture time by more than one half with respect to the decentralized case, and that such bound is tight.
Keywords
Cite
@article{arxiv.2001.09048,
title = {Cooperative versus decentralized strategies in three-pursuer single-evader games},
author = {Marco Casini and Andrea Garulli},
journal= {arXiv preprint arXiv:2001.09048},
year = {2020}
}
Comments
Preliminary version submitted to ECC 2020