A decentralized approach to pursuer-evader games with multiple superior evaders

Few approaches dealing with pursuer-evader (PE) game allow real-time applications for multi-pursuer-multi-evader situations, especially for cases of evaders with superior control resources such as higher speeds. In addition, existing implementations are often centralized and require prohibitive computation even for very small-scale case. This paper introduces a real-time decentralized approach for such games. A sufficient condition for capturing a superior evader is proposed. Evader value, time-discounting payoff factor, and different priorities, such as "to catch as many evaders as possible" and "to achieve highest team payoff", is considered. Simulations confirm the efficiency of this approach