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arXiv · 2401.12848

Optimal Evasion from a Sensing-Limited Pursuer

Dipankar Maity·Alexander Von Moll·Daigo Shishika·Michael Dorothy
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Abstract

This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its distance from the pursuer at the end. Our analysis reveals that in certain parametric regimes, the optimal Evasion strategy involves a 'risky' maneuver, where the Evader's trajectory comes extremely close to the pursuer's sensing boundary before moving behind the Pursuer. Additionally, we explore a special case in which the Pursuer can choose the final time. In this scenario, we determine a (Nash) equilibrium pair for both the final time and the evasion strategy.

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Dipankar Maity, Alexander Von Moll, Daigo Shishika, Michael Dorothy. 2024-01-23. Optimal Evasion from a Sensing-Limited Pursuer. https://arxiv.org/abs/2401.12848

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