Optimal Evasion from a Sensing-Limited Pursuer
Abstract
This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its distance from the pursuer at the end. Our analysis reveals that in certain parametric regimes, the optimal Evasion strategy involves a 'risky' maneuver, where the Evader's trajectory comes extremely close to the pursuer's sensing boundary before moving behind the Pursuer. Additionally, we explore a special case in which the Pursuer can choose the final time. In this scenario, we determine a (Nash) equilibrium pair for both the final time and the evasion strategy.
Keywords
Cite
@article{arxiv.2401.12848,
title = {Optimal Evasion from a Sensing-Limited Pursuer},
author = {Dipankar Maity and Alexander Von Moll and Daigo Shishika and Michael Dorothy},
journal= {arXiv preprint arXiv:2401.12848},
year = {2024}
}
Comments
Accepted for presentation at, and publication in the proceedings of, the 2024 American Control Conference