Control strategies for players in pursuit-evasion games based on their preferences

In this paper, a design of strategies for players in pursuit-evasion games, is provided. The design incorporates players' preferences captured in their goal functions which are constructed using particular functional forms that include multiattribute copulas. The approach provides closed-form strategies for the players governed by nonlinear models affine in control. A number of sufficient conditions based on differential inequalities for either evasion or capture is formulated. Finally, to demonstrate effectiveness of the proposed design, some illustrative simulations with players modeled as nonlinear and nonholonomic unicycles, are provided.