Pursuit, herding and evasion: A three-agent model of caribou predation

William Scott, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

62 Scopus citations


Motivated by problems of pursuit and evasion in coordinated multi-agent systems, we present a model of pursuit, herding and evasion for three agents: A single pursuer, e.g. a bear, chooses a target point along the line connecting two evaders, and the two evaders, e.g. a mother caribou and her calf, each choose a strategy that trades off evasion and herding. The model is based on feedback control of constant speed steered particles on the plane. Dynamics over a reduced set of shape variables are defined. Parallel-motion shape equilibria are studied, with stability analysis and analytic solutions provided for special cases in the parameter space. Simulation results are also presented that suggest existence of optimal strategies for the bear and the caribou in a game theoretic sense.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479901777
StatePublished - 2013
Externally publishedYes
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2013 1st American Control Conference, ACC 2013
Country/TerritoryUnited States
CityWashington, DC

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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