A pursuit-evasion game between unmanned aerial vehicles

In this paper the problem of two-player pursuit-evasion games with unmanned aerial vehicles (UAVs) in a three-dimensional environment is solved. A game theoretic framework is presented, which enables the solution of dynamic games in discrete time based on dynamic programming. The UAV agents taking part in the pursuit-evasion game are two identical quad-rotors with the same non-linear state space model, while the evaders´ absolute velocity is smaller than the pursuers´. The convergence of the pursuit-evasion game is shown in numerical simulations. Finally, the approach is simulated on an embedded computer and tested for real-time applicability. Hence, the implementation and real-time execution on a physical UAV system is feasible.