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In this paper, we investigate the pursuit-evasion games involving multiple pursuers with different speeds moving in a three-dimensional (3D) space and multiple evaders moving in a two-dimensional (2D) plane. Focusing on this situation, the Apollonius circle is extended to 3D space. In order to ensure that all evaders are captured within a finite time, we propose a dynamic allocation strategy based on determining whether pursuers are active or redundant for the evaders in spaces of different dimensions. Then we derive the 3D constant bearing strategy for pursuers. Finally, simulations are carried out to demonstrate the performance of the proposed strategy.

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Apollonius-Based Task Allocation Strategy for the Multiplayer Pursuit-Evasion Game in Spaces of Different Dimensions

  • 会议论文

  • 发表日期：

    2025年

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  • Yansong He,
  • Bochen Li,
  • Dan Huang,
  • Lei Song

摘要

In this paper, we investigate the pursuit-evasion games involving multiple pursuers with different speeds moving in a three-dimensional (3D) space and multiple evaders moving in a two-dimensional (2D) plane. Focusing on this situation, the Apollonius circle is extended to 3D space. In order to ensure that all evaders are captured within a finite time, we propose a dynamic allocation strategy based on determining whether pursuers are active or redundant for the evaders in spaces of different dimensions. Then we derive the 3D constant bearing strategy for pursuers. Finally, simulations are carried out to demonstrate the performance of the proposed strategy.