Worst-Case Scenario Evasive Strategies in a Two-on-One Engagement between Dubins' Vehicles with Partial Information

Nath, S and Ghose, D (2023) Worst-Case Scenario Evasive Strategies in a Two-on-One Engagement between Dubins' Vehicles with Partial Information. In: IEEE Control Systems Letters, 7 . pp. 25-30.

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Abstract

In this letter, we consider the problem of pursuit-evasion between two pursuers against an evader with the agents modelled as Dubins' vehicle and having partial information regarding each other's motion. A novel, two-phase, evasive strategy based on worst-case scenario planning and proximity-based maneuvers is proposed. In the first phase, the evader assumes the pursuers to be holonomic and executes a best response strategy. An analytic and geometric approach is used to obtain the evader's strategy. In the second phase, the evader switches to movement along high-curvature paths to side-step the pursuers when they are in proximity of the evader in an attempt to delay capture. We also propose an approximation to compute the evader strategy in the first phase, which enables it to be applicable against multiple non-holonomic pursuers. Illustrative simulation results are given. © 2017 IEEE.

Item Type:	Journal Article
Publication:	IEEE Control Systems Letters
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to the Institute of Electrical and Electronics Engineers Inc.
Keywords:	Game theory, Delay; Differential games; Game; Nonholonomic systems; Optimal controls; Partial information; Pursuit evasion; Scenario Planning; Two phase; Worst case scenario, Dynamic programming
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	06 Oct 2022 09:25
Last Modified:	06 Oct 2022 09:25
URI:	https://eprints.iisc.ac.in/id/eprint/77175

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