rapid-communication
Authors: Michael Dorothy, Dipankar Maity, Daigo Shishika, and Alexander Von Moll
Volume 163, Issue C
Published: 09 July 2024 Publication History
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Abstract
This paper investigates obstacle-free full-information simple-motion pursuit-evasion problems where the pursuer is faster and game termination is point capture. It is well known that the interior of the Apollonius Circle (AC) is the evader’s dominance region, however, it was unclear whether the evader could reach outside the initial AC without being captured. We construct a pursuit strategy that guarantees the capture of an evader within an arbitrarily close neighborhood of the initial AC. The pursuer strategy is derived by reformulating the game into a nonlinear control problem, and the guarantee holds against any admissible evader strategy. Our result implies that the evader can freely select the capture location, but only inside the initial AC. Therefore, a class of problems, including those where the payoff is determined solely based on the location of capture, are now trivial.
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Published In
Automatica (Journal of IFAC) Volume 163, Issue C
May 2024
520 pages
ISSN:0005-1098
Issue’s Table of Contents
Copyright © 2024.
Publisher
Pergamon Press, Inc.
United States
Publication History
Published: 09 July 2024
Author Tags
- Pursuit-evasion
- Differential games
- Lyapunov methods
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- Rapid-communication
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