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arXiv · 2407.19954

A Family of Switching Pursuit Strategies for a Multi-Pursuer Single-Evader Game

Marco Casini·Andrea Garulli
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Abstract

This paper introduces a new family of pursuit strategies for multi-pursuer single-evader games in a planar environment. They leverage conditions under which the minimum-time solution of the game becomes equivalent to that of a suitable two-pursuer single-evader game. This enables the design of strategies in which the pursuers first aim to meet such conditions, and then transition to a two-pursuer game once they are satisfied. As a consequence, naive strategies that are in general unsuccessful, can be turned into winning strategies by switching to the appropriate two-pursuer game. Moreover, it is shown via numerical simulations that the switching mechanism significantly enhances the performance of existing pursuit algorithms, like those based on Voronoi partitions.

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BibTeXRIS

Marco Casini, Andrea Garulli. 2024-07-29. A Family of Switching Pursuit Strategies for a Multi-Pursuer Single-Evader Game. https://arxiv.org/abs/2407.19954

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