论文标题
追求逃避中的计划和配方：远程游戏及其策略
Planning and Formulations in Pursuit-Evasion: Keep-away Games and Their Strategies
论文作者
论文摘要
我们研究了一个追求逃避问题，可以将其视为保留游戏的扩展。在游戏中，追随者将尝试与逃避者相交或捕获逃避者，而逃避者可以访问固定的位置，我们将其表示为锚点。这些锚可能是静止的，也可能不是静止的。当追随者的速度与逃避者相比有限且被认为是低的时，我们对追随者还是逃避者是否存在胜利策略感兴趣，或者游戏将吸引。当锚静止时，我们会显示一种算法，可以帮助回答上述问题。 这项研究的主要动机是探索运动学和动态约束之间的界限。特别是，运动问题的解决方案是否可以用于加快动态约束的问题以及如何离散问题以最好地利用此类关系。在这项工作中，我们表明可以使用几何分支和结合方法来解决固定锚点问题，并且可以扩展方法和解决方案以解决追求者具有动态约束的动态问题，包括速度和加速度界限。
We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the anchors. These anchors may or may not be stationary. When the velocity of the pursuers is limited and considered low compared to the evaders, we are interested in whether a winning strategy exists for the pursuers or the evaders, or the game will draw. When the anchors are stationary, we show an algorithm that can help answer the above question. The primary motivation for this study is to explore the boundaries between kinematic and dynamic constraints. In particular, whether the solution of the kinematic problem can be used to speed up the search for the problems with dynamic constraints and how to discretize the problem to utilize such relations best. In this work, we show that a geometric branch-and-bound type of approach can be used to solve the stationary anchor problem, and the approach and the solution can be extended to solve the dynamic problem where the pursuers have dynamic constraints, including velocity and acceleration bounds.
