An Introduction to Pursuit-evasion Differential Games

Weintraub, Isaac E.; Pachter, Meir; García, Eloy

doi:10.48550/arxiv.2003.05013

Cited by 2 publications

(2 citation statements)

References 87 publications

(133 reference statements)

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“…The rendezvous (or interception) problem is not new. Traditionally these problems fall into two categories: interception of a target on a known path or interception of a target with an unknown trajectory [19]. Full knowledge of target behavior makes the problem trivial as shown in [20].…”

Section: B Problem Noveltymentioning

confidence: 99%

Safe Sampling-Based Air-Ground Rendezvous Algorithm for Complex Urban Environments

Haberfeld¹,

Gahlawat²,

Hovakimyan³

2021

Preprint

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Demand for fast and economical parcel deliveries in urban environments has risen considerably in recent years. A framework envisions efficient last-mile delivery in urban environments by leveraging a network of ride-sharing vehicles, where Unmanned Aerial Systems (UASs) drop packages on said vehicles, which then cover the majority of the distance before final aerial delivery. Notably, we consider the problem of planning a rendezvous path for the UAS to reach a human driver, who may choose between N possible paths and has uncertain behavior, while meeting strict safety constraints. The long planning horizon and safety constraints require robust heuristics that combine learning and optimal control using Gaussian Process Regression, sampling-based optimization, and Model Predictive Control. The resulting algorithm is computationally efficient and shown to be effective in a variety of qualitative scenarios.

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Section: B Problem Noveltymentioning

confidence: 99%

Safe Sampling-Based Air-Ground Rendezvous Algorithm for Complex Urban Environments

Haberfeld¹,

Gahlawat²,

Hovakimyan³

2021

Preprint

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“…The numbers of players aside, there could also be scenarios in which the players have restricted sensing abilities, which would require advanced pursuit strategies [9]. For a broader and more thorough review on recent studies on PEGs, one can refer to [10].…”

Section: Introductionmentioning

confidence: 99%

Relay Pursuit of an Evader by a Heterogeneous Group of Pursuers using Potential Games

Lee

Bakolas²

2021

2021 American Control Conference (ACC)

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We propose a decentralized solution for a pursuitevasion game involving a heterogeneous group of rational (selfish) pursuers and a single evader based on the framework of potential games. In the proposed game, the evader aims to delay (or, if possible, avoid) capture by any of the pursuers whereas each pursuer tries to capture the latter only if this is to his best interest. Our approach resembles in principle the so-called relay pursuit strategy introduced in [1], in which only the pursuer that can capture the evader faster than the others is active. In sharp contrast with the latter approach, the active pursuer herein is not determined by a reactive ad-hoc rule but from the solution of a corresponding potential game. We assume that each pursuer has different capabilities and his decision whether to go after the evader or not is based on the maximization of his individual utility (conditional on the choices and actions of the other pursuers). The pursuers utilities depend on both the rewards that they will receive by capturing the evader and the time of capture (cost of capturing the evader) so that a pursuer should only seek capture when the incurred cost is relatively small. The determination of the active pursuerevader assignments (in other words, which pursuers should be active) is done iteratively by having the pursuers exchange information and updating their own actions by executing a learning algorithm for games known as Spatial Adaptive Play (SAP). We illustrate the performance of our algorithm by means of extensive numerical simulations.

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An Introduction to Pursuit-evasion Differential Games

Cited by 2 publications

References 87 publications

Safe Sampling-Based Air-Ground Rendezvous Algorithm for Complex Urban Environments

Safe Sampling-Based Air-Ground Rendezvous Algorithm for Complex Urban Environments

Relay Pursuit of an Evader by a Heterogeneous Group of Pursuers using Potential Games

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