Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers

Pursuit-evasion games are an important problem in robotics and control, but games with many players are difficult to analyze and solve. This paper studies a game of multiple pursuers cooperating to capture a single evader in a bounded, convex, polytope in the plane. We present a decentralized contro...

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Bibliographic Details
Published in:2011 50th IEEE Conference on Decision and Control and European Control Conference pp. 4835 - 4840
Main Authors: Haomiao Huang, Wei Zhang, Ding, J., Stipanovic, D. M., Tomlin, C. J.
Format: Conference Proceeding
Language:English
Published: IEEE 01.12.2011
Subjects:
Bismuth
Educational institutions
Equations
Games
Simulation
Trajectory
Vectors
ISBN:9781612848006, 1612848001
ISSN:0191-2216
Online Access:Get full text
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Summary:Pursuit-evasion games are an important problem in robotics and control, but games with many players are difficult to analyze and solve. This paper studies a game of multiple pursuers cooperating to capture a single evader in a bounded, convex, polytope in the plane. We present a decentralized control scheme based on the Voronoi partion of the game domain, where the pursuers jointly minimize the area of the evader's Voronoi cell. We prove that capturing the evader is guaranteed under this scheme regardless of the evader's actions, and show simulation results demonstrating the pursuit strategy.
ISBN:9781612848006
1612848001
ISSN:0191-2216
DOI:10.1109/CDC.2011.6161237