Pursuit-evasion games in the presence of obstacles
TL;DR: The methods provided are used to determine dominance and solve the game, and a novel, multiplayer pursuit-evasion game is presented that features three players on two teams and can be used to model rescue scenarios and biological behaviors.
About: This article is published in Automatica.The article was published on 2016-03-01 and is currently open access. It has received 117 citations till now. The article focuses on the topics: Non-cooperative game & Screening game.
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TL;DR: A barrier based on the explicit policy method and geometric analysis method is constructed to separate the whole state space into two disjoint parts that correspond to two winning regions for the Attacker and Target–Defender team.
80 citations
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.
Abstract: This paper considers a reach-avoid game on a rectangular domain with two defenders and one attacker. The attacker aims to reach a specified edge of the game domain boundary, while the defenders strive to prevent that by capturing the attacker. First, we are concerned with the barrier, which is the boundary of the reach-avoid set, splitting the state space into two disjoint parts: 1) defender dominance region (DDR) and 2) attacker dominance region (ADR). For the initial states lying in the DDR, there exists a strategy for the defenders to intercept the attacker regardless of the attacker’s best effort, while for the initial states lying in the ADR, the attacker can always find a successful attack strategy. We propose an attack region method to construct the barrier analytically by employing Voronoi diagram and Apollonius circle for two kinds of speed ratios. Then, by taking practical payoff functions into considerations, we present optimal strategies for the players when their initial states lie in their winning regions, and show that the ADR is divided into several parts corresponding to different strategies for the players. Numerical approaches, which suffer from inherent inaccuracy, have already been utilized for multiplayer reach-avoid games, but computational complexity complicates solving such games and consequently hinders efficient on-line applications. However, this method can obtain the exact formulation of the barrier and is applicable for real-time updates.
73 citations
TL;DR: The training and evaluation results demonstrate that the pursuit team could learn highly efficient cooperative control and communication policies and can capture a superior evader driven by an intelligent escape policy with a high success rate.
66 citations
TL;DR: A broad understanding gained from the survey overall will assist with the design of a holistic CUS and inspire cross-domain research across physical layer designs in wireless communications, CUS network designs, control theory, mechanics, and computer science, to enhance counter UAV techniques further.
Abstract: Recognizing the various and broad range of applications of unmanned aerial vehicles (UAVs) and unmanned aircraft systems (UAS) for personal, public and military applications, recent un-intentional malfunctions of uncontrollable UAVs or intentional attacks on them divert our attention and motivate us to devise a protection system, referred to as a counter UAV system (CUS). The CUS, also known as a counter-drone system, protects personal, commercial, public, and military facilities and areas from uncontrollable and belligerent UAVs by neutralizing or destroying them. This paper provides a comprehensive survey of the CUS to describe the key technologies of the CUS and provide sufficient information with wich to comprehend this system. The first part starts with an introduction of general UAVs and the concept of the CUS. In the second part, we provide an extensive survey of the CUS through a top-down approach: i) the platform of CUS including ground and sky platforms and related networks; ii) the architecture of the CUS consisting of sensing systems, command-and-control (C2) systems, and mitigation systems; and iii) the devices and functions with the sensors for detection-and-identification and localization-and-tracking actions and mitigators for neutralization. The last part is devoted to a survey of the CUS market with relevant challenges and future visions. From the CUS market survey, potential readers can identify the major players in a CUS industry and obtain information with which to develop the CUS industry. A broad understanding gained from the survey overall will assist with the design of a holistic CUS and inspire cross-domain research across physical layer designs in wireless communications, CUS network designs, control theory, mechanics, and computer science, to enhance counter UAV techniques further.
63 citations
TL;DR: The active target defense scenario is analyzed and offers more realistic results compared to previous work where simple motion kinematics were used, that is, it was assumed that the missiles are able to turn infinitely fast.
48 citations
References
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Book•
01 Jan 1982
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.
Abstract: Preface to the classics edition Preface to the second edition 1. Introduction and motivation Part I: 2. Noncooperative Finite Games: two-person zero-aum 3. Noncooperative finite games: N-Person nonzero-sum 4. Static noncooperative Infinite Games Part II: 5. General Formulation of Infinite Dynamic Games 6. Nash and Saddle-Point Equilibria of Infinite Dynamic Games 7. Stackelberg Equilibria of Infinite Dynamic Games 8. Pursuit-Evasion Games Appendix A: Mathematical Review Appendix B: Some notions of probability theory Appendix C: Fixed point theorems Bibliography Table: Corollaries, Definitions, Examples, Lemmas, Propositions, remarks and theorems Index.
4,471 citations
TL;DR: A taxonomy of search problems is provided that highlights the differences resulting from varying assumptions on the searchers, targets, and the environment and highlights current open problems in the area and explores avenues for future work.
Abstract: This paper surveys recent results in pursuit-evasion and autonomous search relevant to applications in mobile robotics. We provide a taxonomy of search problems that highlights the differences resulting from varying assumptions on the searchers, targets, and the environment. We then list a number of fundamental results in the areas of pursuit-evasion and probabilistic search, and we discuss field implementations on mobile robotic systems. In addition, we highlight current open problems in the area and explore avenues for future work.
505 citations
TL;DR: The algorithm is based on an efficient implementation of wavefront propagation among polygonal obstacles, and it actually computes a planar map encoding shortest paths from a fixed source point to all other points of the plane; the map can be used to answer single-source shortest path queries in O(log n) time.
Abstract: We propose an optimal-time algorithm for a classical problem in plane computational geometry: computing a shortest path between two points in the presence of polygonal obstacles. Our algorithm runs in worst-case time O(n log n) and requires O(n log n) space, where n is the total number of vertices in the obstacle polygons. The algorithm is based on an efficient implementation of wavefront propagation among polygonal obstacles, and it actually computes a planar map encoding shortest paths from a fixed source point to all other points of the plane; the map can be used to answer single-source shortest path queries in O(log n) time. The time complexity of our algorithm is a significant improvement over all previously published results on the shortest path problem. Finally, we also discuss extensions to more general shortest path problems, involving nonpoint and multiple sources.
347 citations