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Published in: Dynamic Games and Applications 4/2019

15-02-2019

Multiplayer Pursuit-Evasion Games in Three-Dimensional Flow Fields

Authors: Wei Sun, Panagiotis Tsiotras, Anthony J. Yezzi

Published in: Dynamic Games and Applications | Issue 4/2019

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Abstract

In this paper, we deal with a pursuit-evasion differential game between multiple pursuers and multiple evaders in the three-dimensional space under dynamic environmental disturbances (e.g., winds, underwater currents). We first recast the problem in terms of partitioning the pursuer set and assign each pursuer to an evader. We present two algorithms to partition the pursuer set from either the pursuer’s perspective or the evader’s perspective. Within each partition, the problem is reduced into a multi-pursuer/single-evader game. This problem is then addressed through a reachability-based approach. We give conditions for the game to terminate in terms of reachable set inclusions. The reachable sets of the pursuers and the evader are obtained by solving their corresponding level set equations through the narrow band level set method. We further demonstrate why fast marching or fast sweeping schemes are not applicable to this problem for a general class of disturbances. The time-optimal trajectories and the corresponding optimal strategies can be retrieved afterward by traversing these level sets. The proposed scheme is implemented on problems with both simple and realistic flow fields.

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Metadata
Title
Multiplayer Pursuit-Evasion Games in Three-Dimensional Flow Fields
Authors
Wei Sun
Panagiotis Tsiotras
Anthony J. Yezzi
Publication date
15-02-2019
Publisher
Springer US
Published in
Dynamic Games and Applications / Issue 4/2019
Print ISSN: 2153-0785
Electronic ISSN: 2153-0793
DOI
https://doi.org/10.1007/s13235-019-00304-4

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