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We study the problem of pursuit-evasion for a single pursuer and an evader in polygonal environments where the players have visibility constraints. The pursuer is tasked with catching the evader as quickly as possible while the evader tries to avoid being captured. We formalize this problem as a zero-sum game where the players have private observations and conflicting objectives.One of the challenging aspects of this game is due to limited visibility. When a player, for example, the pursuer does not see the evader, it needs to reason about all possible locations of the evader. This causes an exponential increase in the size of the state space as compared to the arena size. To overcome the challenges associated with large state spaces, we introduce a new learning-based method that compresses the game state and uses it to plan actions for the players. The results indicate that our method outperforms the existing reinforcement learning methods, and performs competitively against the current state-of-the-art randomized strategy in complex environments.
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This content will become publicly available on May 22, 2025
Pursuer Coordination Against a Fast Evader via Coverage Control
Scalable pursuer coordination for reach-avoid games against a fast evader are developed leveraging coverage control over manifolds. The maintenance of a manifold, termed defense surface, prevents the evader and its target from occupying the same half-space and shown sufficient as a cooperative capture strategy. Nonlinear control synthesis continually reconfigures the pursuers to enable a defense surface via coverage. Simulation results empirically validate that the proposed condition
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- Award ID(s):
- 1931821
- PAR ID:
- 10483341
- Publisher / Repository:
- IEEE
- Date Published:
- Journal Name:
- IEEE Transactions on Automatic Control
- ISSN:
- 0018-9286
- Page Range / eLocation ID:
- 1 to 6
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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