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This paper investigates the winning conditions for the pursuer team with nonholonomic constraints in Reach-Avoid (RA) games. The motion of a pursuer with nonholonomic constraints is more complex than that of a pursuer modeled by a common first-order integrator, which makes the solution to the game problem more difficult. Different from previous works, this paper proposes a set of sufficient conditions for a team of pursuers with unicycle dynamics of any size to win the game, based on the analysis of the dominance region for a single pursuer, and provides the corresponding proofs. The conditions provide an important reference for the strategy designation of the pursuer team, whose validity is confirmed by simulation experiments.

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Scalable Coordination of Pursuers with Nonholonomic Constraint in Multi-player Reach-Avoid Games

  • 会议论文

  • 发表日期：

    2025年

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  • Ziqi He,
  • Bochen Li,
  • Chenggang Wang,
  • Lei Song,
  • Dan Huang

摘要

This paper investigates the winning conditions for the pursuer team with nonholonomic constraints in Reach-Avoid (RA) games. The motion of a pursuer with nonholonomic constraints is more complex than that of a pursuer modeled by a common first-order integrator, which makes the solution to the game problem more difficult. Different from previous works, this paper proposes a set of sufficient conditions for a team of pursuers with unicycle dynamics of any size to win the game, based on the analysis of the dominance region for a single pursuer, and provides the corresponding proofs. The conditions provide an important reference for the strategy designation of the pursuer team, whose validity is confirmed by simulation experiments.