Related papers: An Introduction to Pursuit-evasion Differential Ga…

This paper provides a decomposition technique for the purpose of simplifying the solution of certain zero-sum differential games. The games considered terminate when the state reaches a target, which can be expressed as the union of a…

We present a method for pursuit/evasion that is highly efficient and and scales to large teams of aircraft. The underlying algorithm is an efficient algorithm for solving Markov Decision Processes (MDPs) that supports fully continuous state…

We consider surveillance-evasion differential games, where a pursuer must try to constantly maintain visibility of a moving evader. The pursuer loses as soon as the evader becomes occluded. Optimal controls for game can be formulated as a…

In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another's behavior. Trajectory games capture these complex effects by design. In competitive…

A qualitative criterion for a pursuer to intercept a target in a class of differential games is obtained in terms of \emph{future cones}: Topological cones that contain all attainable trajectories of target or interceptor originating from…

This paper presents a succinct review of attempts in the literature to use game theory to model decision making scenarios relevant to defence applications. Game theory has been proven as a very effective tool in modelling decision making…

In the Target-Attacker-Defender (TAD) differential game, an Attacker missile strives to capture a Target aircraft. The Target tries to escape the Attacker and is aided by a Defender missile which aims at intercepting the Attacker before the…

This paper considers a reach-avoid differential game in three-dimensional space with four equal-speed players. A plane divides the game space into a play subspace and a goal subspace. The evader aims at entering the goal subspace while…

This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…

This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…

This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…

Advances in machine learning have led to broad deployment of systems with impressive performance on important problems. Nonetheless, these systems can be induced to make errors on data that are surprisingly similar to examples the learned…

Dynamic zero-sum games are an important class of problems with applications ranging from evasion-pursuit and heads-up poker to certain adversarial versions of control problems such as multi-armed bandit and multiclass queuing problems.…

We study a variant of pursuit-evasion game in the context of perimeter defense. In this problem, the intruder aims to reach the base plane of a hemisphere without being captured by the defender, while the defender tries to capture the…

In this paper we study a linear pursuit differential game described by an infinite system of first-order differential equations in Hilbert space. The control functions of players are subject to geometric constraints. The pursuer attempts to…

A geometric approach to differential game theory is illustrated. The parallel pursuit is considered as a two-player zero-sum differential game. The optimal strategies of each player is designed based on Riemann-Finsler geometry. Our…

Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

We study pursuit-evasion differential games between a faster pursuer moving in 3D space and an evader moving in a plane. We first extend the well-known Apollonius circle to 3D space, by which we construct the isochron for the considered two…

We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express…