The pursuit-evasion-defense differential game in dynamic constrained environments

Jaime F. Fisac, S. Shankar Sastry

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

21 Scopus citations

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.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4549-4556
Number of pages8
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Externally publishedYes
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Fisac, J. F., & Sastry, S. S. (2015). The pursuit-evasion-defense differential game in dynamic constrained environments. In 54rd IEEE Conference on Decision and Control,CDC 2015 (pp. 4549-4556). [7402930] (Proceedings of the IEEE Conference on Decision and Control; Vol. 54rd IEEE Conference on Decision and Control,CDC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2015.7402930