The pursuit-evasion problem under integral-geometric constraints on pursuer controls

Abstract

We study the pursuit-evasion problem for a model game with simple motions when pursuer controls are subject to both integral and geometric constraints while evader controls are only subject to geometric ones. Depending on initial conditions of the players and parametric values participating in control constraints, we prove the theorem of alternative. To solve the pursuit problem, we propose a parallel pursuit strategy (Π-strategy) that ensures optimal convergence of the players and study its structure depending on the parameters. To solve the evasion problem, we find lower bounds on the convergence that also depend on given parameters. This work develops and extends the works of Isaacs, Petrosyan, Pshenichnyi and other researchers, including the author.