Distributed Strategies for Pursuit-Evasion of High-order Integrators

This paper presents decentralized solutions for addressing pursuit-evasion problems involving high-order integrators with intracoalition cooperation and intercoalition confrontation. To ensure that the control strategies independent of the relative velocities, accelerations and higher order information of neighbors, we introduce distinct error variables and hyper-variables. Consequently, this approach only requires agents to exchange position information or measure the relative positions of neighbors. The distributed strategies reflect the goals of intracoalition cooperation or intercoalition confrontation of the players. Additionally, we present the conditions for capture and formation control with exponential convergence for three cases: one-pursuer-one-evader, multiple-pursuer-one-evader, and multiple-pursuer-multiple-evader. The results show that the conditions depend on the structure of the communication graph, the weights in the control law, and the expected formation configuration. Finally, the effectiveness of the proposed algorithm is demonstrated through simulation results.