@inproceedings{5052fd80ad944c019e508b46298582eb,
title = "The pursuit-evasion-defense differential game in dynamic constrained environments",
abstract = "Dynamic multi-player games are powerful abstractions of important real-world problems involving multiple interacting agents in both cooperative and adversarial settings. This paper studies a three-player differential pursuit-evasion game in which a pursuer aims to capture a fleeing evader while a third player, the defender, cooperates with the latter by attempting to intercept or delay the pursuer to avoid capture. Our analysis considers time-varying dynamics and allows the presence of possibly moving obstacles in the domain. We apply a recent theoretical result to express the outcome of the game through the solution of a double-obstacle Hamilton-Jacobi-Isaacs variational inequality, and propose a novel approach to break down the problem into two simpler two-player games with dynamic targets and constraints, which can be solved at a much lower cost. Although conservative, this method guarantees correctness of the computed winning region and strategy for the evader-defender team when a feasible escape solution is found. We demonstrate both the full solution and the approximation method through a numerical example.",
author = "Fisac, {Jaime F.} and Sastry, {S. Shankar}",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7402930",
language = "English (US)",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4549--4556",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
address = "United States",
note = "54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
}