Dynamics of Pursuit and Evasion in a Heterogeneous Herd

William Scott and Naomi Ehrich Leonard

Proceedings of IEEE Conference on Decision and Control, Los Angeles, CA, 2014.

Pdf of paper
We propose and analyze a dynamic model of pursuit and evasion on the plane with a single pursuer and a heterogeneous group of evaders. Heterogeneity in the group of evaders is expressed as heterogeneity in the individual maximum speeds. The goal of the pursuer is to capture a single evader in minimum time. The goal of each individual evader is to avoid capture or else to delay capture for as long as possible. Two cases of sensing among agents are considered: global (all-to-all) sensing, and local (radius-limited) sensing. We present pursuer strategies for optimal target selection that achieve bounded capture time. We propose evasion strategies and prove conditions under which they guarantee capture avoidance.

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