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arXiv · 2607.03554

Interception-Driven Inverse Reachability for Engagement Zone Construction

Grant Stagg·Cameron K. Peterson·Alexander Von Moll·Isaac Weintraub
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Abstract

In contested environments, autonomous vehicles may need to plan around adversarial pursuers whose launch locations are unknown. This paper presents an interception-driven inverse-reachability framework for inferring a feasible pursuer launch region directly from observed interception events for a single pursuer. Each interception induces a geometric constraint on the unknown launch location, and intersecting these constraints yields a bounded set guaranteed to contain the true origin under maximum-capability assumptions. Mapping this inferred set through the pursuer reachable region produces deterministic engagement zones with an explicit worst-case safety interpretation. A probabilistic extension models uncertainty in the pursuer launch location and yields graded engagement-risk fields for risk-aware planning. To accelerate localization, we introduce an information-driven planner for sacrificial agents that selects trajectories to maximize expected contraction of the feasible launch region. Monte Carlo simulations show that the proposed framework rapidly reduces launch-location uncertainty and enables substantially shorter safe trajectories after only a small number of sacrificial deployments.

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Grant Stagg, Cameron K. Peterson, Alexander Von Moll, Isaac Weintraub. 2026-07-03. Interception-Driven Inverse Reachability for Engagement Zone Construction. https://arxiv.org/abs/2607.03554

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