Optimal Strategies for a Class of Multi-Player Reach-Avoid Differential Games in 3D Space
Eloy García, David W. Casbeer, Meir Pachter
Abstract
A multi-player reach-avoid differential game with autonomous aerial robots in the three dimensional space is studied. Two pursuers form a team to guard a target against an evader with the same speed as the pursuers. This letter provides the complete solution of this differential game that resides within a high-dimensional state space. The Barrier surface is characterized and the saddle-point strategies are synthesized and verified. Degeneration of the two-pursuer one-evader game into the one-on-one case is addressed and the corresponding strategies are obtained. Finally, several examples illustrate the robustness properties and the guarantees provided by the saddle-point strategies obtained in this letter.
BibTeX
@inproceedings{ral2020_optimalstrategie,
title = {Optimal Strategies for a Class of Multi-Player Reach-Avoid Differential Games in 3D Space},
author = {Eloy García and David W. Casbeer and Meir Pachter},
booktitle = {RA-L 2020},
year = {2020}
}