A Dynamics Perspective of Pursuit-Evasion: Capturing and Escaping When the Pursuer Runs Faster Than the Agile Evader

Pursuit-evasion is fascinating in both nature and artificial world. Typically, a pursuer runs faster than its targeted evader while with less agile maneuverability. Naturally, there is a wonder that how an evader escapes from a faster pursuer or how faster a pursuer is able to capture an agile evade...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 62; no. 1; pp. 451 - 457
Main Author Li, Wei
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Accelerated aging
Acceleration
Animals
Behavioral modes
biological-inspired systems
capture
Dynamics
escape
escape strategy
hybrid systems
Maneuverability
Maneuvers
motion pattern
non-trivial escape
phase transition
predator-prey
Propulsion
pursuit-evasion
Pursuit-evasion games
Robots
Vehicle dynamics
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Summary:Pursuit-evasion is fascinating in both nature and artificial world. Typically, a pursuer runs faster than its targeted evader while with less agile maneuverability. Naturally, there is a wonder that how an evader escapes from a faster pursuer or how faster a pursuer is able to capture an agile evader? This is not yet answered from the dynamics (i.e., Lagrangian or Newtonian) perspective. In this paper, we first provide a concise dynamics formulation from a bio-inspired perspective, in which the evader's escape strategy consists of two simplest possible yet efficient ingredients integrated as an organic whole, i.e., the suddenly turning-left or turning-right propelling maneuver, together with the early alert condition for starting and maintaining this maneuver. Then, we characterize the dynamic properties of the system at two different levels: 1) the maneuvers and non-trivial escape of the evader, at the level of individual runs of the system; and further 2) the non-trivial escape zones, the sharp phase-transitions and the phase-transition lines of the gaming outcome, at the level of the running results with respect to different ranges of the system parameters. The results are consistent with natural observations and may disclose some clues of natural laws, as well as imply applications in competition of autonomous mobile robots.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2016.2575008