Cooperative Containment of a High-speed Evader

Abstract

A pursuit-evasion differential game where a group of slow pursuers cooperate in order to capture a high-speed evader is considered. Pursuit of a fast evader is a challenging problem and capture is not guaranteed given the arbitrary initial conditions. Further, cooperation among pursuers is necessary in order for successful encirclement and capture of the fast evader. A novel analysis based on Cartesian Ovals is provided which accurately separates the reachable regions of a pursuer and high-speed evader in the case where the pursuer is endowed with a positive capture radius.

Topics & Concepts