2,002 research outputs found
Virtual Target Selection for a Multiple-Pursuer Multiple-Evader Scenario
This paper considers an M-pursuer N-evader scenario involving virtual
targets. The virtual targets serve as an intermediary target for the pursuers,
allowing the pursuers to delay their final assignment to the evaders. However,
upon reaching the virtual target, the pursuers must decide which evader to
capture. It is assumed that there are more pursuers than evaders and that the
pursuers are faster than the evaders. The objective is two-part: first, assign
each pursuer to a virtual target and evader such that the pursuer team's energy
is minimized, and second, choose the virtual targets' locations for this
minimization problem. The approach taken is to consider the Apollonius geometry
between each pursuer's virtual target location and each evader. Using the
constructed Apollonius circles, the pursuer's travel distance and maneuver at a
virtual target are obtained. These metrics serve as a gauge for the total
energy required to capture a particular evader and are used to solve the joint
virtual target selection and pursuer-evader assignment problem. This paper
provides a mathematical definition of this problem, the solution approach
taken, and an example.Comment: AIAA SciTech 2024 Preprin
Multi-Agent Reach-Avoid Games: Two Attackers Versus One Defender and Mixed Integer Programming
We propose a hybrid approach that combines Hamilton-Jacobi (HJ) reachability
and mixed-integer optimization for solving a reach-avoid game with multiple
attackers and defenders. The reach-avoid game is an important problem with
potential applications in air traffic control and multi-agent motion planning;
however, solving this game for many attackers and defenders is intractable due
to the adversarial nature of the agents and the high problem dimensionality. In
this paper, we first propose an HJ reachability-based method for solving the
reach-avoid game in which 2 attackers are playing against 1 defender; we derive
the numerically convergent optimal winning sets for the two sides in
environments with obstacles. Utilizing this result and previous results for the
1 vs. 1 game, we further propose solving the general multi-agent reach-avoid
game by determining the defender assignments that can maximize the number of
attackers captured via a Mixed Integer Program (MIP). Our method generalizes
previous state-of-the-art results and is especially useful when there are fewer
defenders than attackers. We validate our theoretical results in numerical
simulations
Optimal Role Assignment for Multiplayer Reach-Avoid Differential Games in 3D Space
In this article an -pursuer versus -evader reach-avoid differential
game in 3D space is studied. A team of evaders aim to reach a stationary target
while avoiding capture by a team of pursuers. The multiplayer scenario is
formulated in a differential game framework. This article provides an optimal
solution for the particular case of and extends it to a more general
scenario of via an optimal role assignment algorithm based on a
linear program. Consequently, the pursuer and the evader winning regions, and
the Value of the game are analytically characterized providing optimal
strategies of the players in state feedback form
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