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Description:
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Pursuit and evasion games have garnered much research attention since the
class of problems was first posed over a half century ago . With wide applicability to
both civilian and military problems , the study of pursuit and evasion games showed
much early promise . Early work generally focused on analytical solutions to games
involving a single pursuer and a single evader . These solutions generally assumed simple system dynamics to facilitate convergence to a solution . More recently , numerical
techniques have been utilized to solve more difficult problems . While many sophisticated numerical tools exist for standard optimization and optimal control problems ,
developing a more complete set of numerical tools for pursuit and evasion games is
still a developing topic of research .
This thesis extends the current body of numeric solution tools in two ways .
First , an existing approach that modifies sophisticated optimization tools to solve
two player pursuer and evasion games is extended to incorporate a class of state
inequality constraints . Several classical problems are solved to illustrate the e±cacy
of the new approach . Second , a new cooperation metric is introduced into the system
objective function for multi -player pursuit and evasion games . This new cooperation
metric encourages multiple pursuers to surround and then proceed to capture an
evader . Several examples are provided to demonstrate this new cooperation metric . |