Pursuit, evasion and defense in the plane

Selina Pan, Haomiao Huang, Jerry Ding, Wei Zhang, Dusan M Stipanovic, Claire J. Tomlin

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


Multi-player games are important for analyzing complex real-world applications that involve both cooperative and adversarial agents, but computational complexity complicates solving such games. We study a modified pursuit-evasion game with multiple pursuers and a single evader, played in a convex domain with an exit through which the evader may escape. We present a strategy whereby one pursuer acts as a defender, utilizing a multi-mode switching strategy to prevent the evader from escaping while the other pursuers subsequently capture the evader. The strategy requires each pursuer to have knowledge only of its Voronoi neighbors and the evader, and runs in real time. The existence and uniqueness of the players' trajectories are proved using non-smooth analysis, and it is also shown that the evader can never reach the exit regardless of its control inputs, resulting in eventual capture. Simulation results are presented demonstrating the algorithm.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Print)9781457710957
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

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


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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