Journal ArticleDOI
On the Suicidal Pedestrian Differential Game
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TLDR
It is shown that the case of point-capture reduces to a special version of Zermelo’s Navigation Problem (ZNP) for the pursuer, which can be used to validate the results obtained through the differential game framework, as well as to characterize the time-optimal trajectories.Abstract:
We consider the following differential game of pursuit and evasion involving two participating players: an evader, which has limited maneuverability, and an agile pursuer. The agents move on the Euclidean plane with different but constant speeds. Whereas the pursuer can change the orientation of its velocity vector arbitrarily fast, that is, he is a “pedestrian” a la Isaacs, the evader cannot make turns having a radius smaller than a specified minimum turning radius. This problem can be seen as a reversed Homicidal Chauffeur game, hence the name “Suicidal Pedestrian Differential Game.” The aim of this paper is to derive the optimal strategies of the two players and characterize the initial conditions that lead to capture if the pursuer acts optimally, and areas that guarantee evasion regardless of the pursuer’s strategy. Both proximity-capture and point-capture are considered. After applying the optimal strategy for the evader, it is shown that the case of point-capture reduces to a special version of Zermelo’s Navigation Problem (ZNP) for the pursuer. Therefore, the well-known ZNP solution can be used to validate the results obtained through the differential game framework, as well as to characterize the time-optimal trajectories. The results are directly applicable to collision avoidance in maritime and Air Traffic Control applications.read more
Citations
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Journal ArticleDOI
Reach-Avoid Games With Two Defenders and One Attacker: An Analytical Approach
TL;DR: An attack region method is proposed to construct the barrier analytically by employing Voronoi diagram and Apollonius circle for two kinds of speed ratios and can obtain the exact formulation of the barrier and is applicable for real-time updates.
Journal ArticleDOI
Multi-player pursuit-evasion games with one superior evader
TL;DR: This paper addresses a class of multi-player pursuit-evasion games with one superior evader, who moves faster than the pursuers, and presents some necessary or sufficient conditions to regularize the encirclement formed by the pursuer to the evader.
Journal ArticleDOI
Multiple-Pursuer/One-Evader Pursuit–Evasion Game in Dynamic Flowfields
TL;DR: A reachability-based approach is adopted to deal with the pursuit–evasion differential game between one evader and multiple pursuers in the presence of dynamic environmental disturbances (for example, winds or sea currents).
Journal ArticleDOI
A Dynamics Perspective of Pursuit-Evasion: Capturing and Escaping When the Pursuer Runs Faster Than the Agile Evader
TL;DR: This paper provides a concise dynamics formulation from a bio-inspired perspective, in which the evader's escape strategy consists of two simplest possible yet efficient ingredients integrated as an organic whole, i.e., the suddenly turning-left or turning-right propelling maneuver.
Journal ArticleDOI
Construction of Barrier in a Fishing Game With Point Capture
TL;DR: This paper addresses a particular pursuit-evasion game, called as “fishing game” where a faster evader attempts to pass the gap between two pursuers, and presents a method of explicit policy to construct the barrier.
References
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Book
Dynamic Noncooperative Game Theory
Tamer Basar,Geert Jan Olsder +1 more
TL;DR: In this paper, the authors present a general formulation of non-cooperative finite games: N-Person nonzero-sum games, Pursuit-Evasion games, and Stackelberg Equilibria of infinite dynamic games.
Book
Applied Optimal Control: Optimization, Estimation, and Control
TL;DR: This best-selling text focuses on the analysis and design of complicated dynamics systems and is recommended by engineers, applied mathematicians, and undergraduates.
Book
Applied optimal control : optimization, estimation and control
Arthur E. Bryson,Yu-Chi Ho +1 more
Journal ArticleDOI
A time-dependent Hamilton-Jacobi formulation of reachable sets for continuous dynamic games
TL;DR: An algorithm for computing the set of reachable states of a continuous dynamic game based on a proof that the reachable set is the zero sublevel set of the viscosity solution of a particular time-dependent Hamilton-Jacobi-Isaacs partial differential equation.