Area-Optimal Control Strategies for Heterogeneous Multi-Agent Pursuit
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866918212345528320 |
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| author | Mammadov, Kamal Ranasinghe, Damith C. |
| author_facet | Mammadov, Kamal Ranasinghe, Damith C. |
| contents | This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the intersection of Apollonius circles derived from each pursuer-evader pair. The capture strategy is formulated as a zero-sum game where the pursuers cooperatively minimize the area of this set, while the evader seeks to maximize it, effectively playing a game of spatial containment. By deriving the analytical gradients of the safe-reachable set's area with respect to agent positions, we obtain closed-form, instantaneous optimal control laws for the heading of each agent. These strategies are computationally efficient, allowing for real-time implementation. Simulations demonstrate that the gradient-based controls effectively steer the pursuers to systematically shrink the evader's safe region, leading to guaranteed capture. This area-minimization approach provides a clear geometric objective for cooperative capture. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_15036 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Area-Optimal Control Strategies for Heterogeneous Multi-Agent Pursuit Mammadov, Kamal Ranasinghe, Damith C. Multiagent Systems This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the intersection of Apollonius circles derived from each pursuer-evader pair. The capture strategy is formulated as a zero-sum game where the pursuers cooperatively minimize the area of this set, while the evader seeks to maximize it, effectively playing a game of spatial containment. By deriving the analytical gradients of the safe-reachable set's area with respect to agent positions, we obtain closed-form, instantaneous optimal control laws for the heading of each agent. These strategies are computationally efficient, allowing for real-time implementation. Simulations demonstrate that the gradient-based controls effectively steer the pursuers to systematically shrink the evader's safe region, leading to guaranteed capture. This area-minimization approach provides a clear geometric objective for cooperative capture. |
| title | Area-Optimal Control Strategies for Heterogeneous Multi-Agent Pursuit |
| topic | Multiagent Systems |
| url | https://arxiv.org/abs/2511.15036 |