Distributed Capturing Strategy in Heterogeneous Multiagent Pursuit–Evasion Games
研究了异构多智能体协同追捕逃逸者的博弈问题，提出一种博弈框架求解耦合的HJI方程，保证捕获性和纳什均衡，并通过仿真验证策略有效性。
This article addresses a collective heterogeneous multiagent pursuit-evasion (MPE) game problem where pursuers cooperatively capture escaping evaders. The analytical challenge of the present design lies in solving the associated coupled Hamilton-Jacobi-Isaacs (HJI) equations induced by the additional interacting roles in the MPE game while ensuring the achievement of the Nash equilibrium. To tackle this issue, a gaming framework is accordingly proposed to solve the coupled HJI equations. Sufficient conditions are derived to guarantee both the capturability and Nash equilibrium of the proposed collective MPE gaming scheme. Finally, numerical simulations are conducted to verify the effectiveness of the present MPE gaming strategy.