Optimal Strategies for a Class of Multi-Player Reach-Avoid Differential Games in 3D Space
- 11 May 2020
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics and Automation Letters
- Vol. 5 (3) , 4257-4264
Abstract
A multi-player pursuit-evasion differential game with autonomous aerial robots in the three dimensional space is studied. Two pursuers form a team to guard a target against an evader with the same speed as the pursuers. This paper provides the complete solution of this differential game with high-dimensional state space. The Barrier surface is characterized and the saddle-point strategies are synthesized and verified. Degeneration of the two-pursuer one-evader game into the one-on-one case is addressed and the corresponding strategies are obtained. Finally, several examples illustrate the robustness properties and the guarantees provided by the saddle-point strategies obtained in this paper.Keywords
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