Coordinated control for capturing a highly maneuverable evader using forward reachable sets

This paper proposes a control strategy based on forward reachable sets (FRSs) analysis for multiple pursuers to capture an evader with a higher maneuverability than the pursuers. The strategy first finds the pursuers´ capture states at which their FRSs cover the evader´s entire FRS so as to improve the possibility of capture. The pursuers approach these capture states from their initial states in feed-forward control at a low sampling rate. Upon reaching the capture states, the pursuers approach and capture the evader in a feedback manner. The proposed strategy was applied to two pursuit-evasion scenarios and compared to the generic motion tracking algorithm. Results show the efficacy of the proposed strategy and its superiority to the motion tracking algorithm