TY - GEN
T1 - Pursuit, herding and evasion
T2 - 2013 1st American Control Conference, ACC 2013
AU - Scott, William
AU - Leonard, Naomi Ehrich
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
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U2 - 10.1109/acc.2013.6580287
DO - 10.1109/acc.2013.6580287
M3 - Conference contribution
AN - SCOPUS:84883503554
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 2978
EP - 2983
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 17 June 2013 through 19 June 2013
ER -