Distributed Capturing Strategy in Heterogeneous Multiagent Pursuit-Evasion Games.

Area of Science:

• Robotics
• Game Theory
• Control Systems

Background:

• Multiagent pursuit-evasion (MPE) games involve complex interactions between multiple agents.
• Solving these games analytically is challenging due to coupled Hamilton-Jacobi-Isaacs (HJI) equations and the need for Nash equilibrium.
• Existing methods may not fully address heterogeneous agent dynamics and cooperative capture strategies.

Purpose of the Study:

• To propose a novel gaming framework for collective heterogeneous MPE problems.
• To ensure cooperative capture of evaders by pursuers.
• To achieve a Nash equilibrium in the MPE game.

Main Methods:

• Development of a cooperative MPE gaming framework.
• Derivation of sufficient conditions for capturability and Nash equilibrium.
• Utilizing coupled Hamilton-Jacobi-Isaacs (HJI) equations within the framework.
• Conducting numerical simulations for validation.

Main Results:

• The proposed framework effectively solves the coupled HJI equations in heterogeneous MPE games.
• Sufficient conditions guaranteeing both capturability and Nash equilibrium were successfully derived.
• Numerical simulations confirmed the effectiveness of the MPE gaming strategy.

Conclusions:

• The developed gaming framework provides a viable solution for collective heterogeneous MPE problems.
• The strategy ensures cooperative capture and achieves the desired Nash equilibrium.
• This research contributes to advancing MPE game theory and its applications.