Optimal Strategies for a Class of Multi-Player Reach-Avoid Differential Games in 3D Space

Authors

Eloy Garcia, Control Science Center of Excellence, Air Force Research Laboratory
David W. Casbeer, Control Science Center of Excellence, Air Force Research Laboratory
Meir Pachter, Air Force Institute of TechnologyFollow

Document Type

Article

Publication Date

7-2020

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.

Comments

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DOI

10.1109/LRA.2020.2994023

Source Publication

IEEE Robotics and Automation Letters (ISSN 2377-3766)

Recommended Citation

E. Garcia, D. W. Casbeer and M. Pachter, "Optimal Strategies for a Class of Multi-Player Reach-Avoid Differential Games in 3D Space," in IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4257-4264, July 2020, doi: 10.1109/LRA.2020.2994023.