Year: 2026
Type: preprint
Abstract: We consider a class of pursuit-evasion games in which multiple defenders and attackers move in the plane with bounded speeds, while each defender observes the states of other agents with a constant time delay. For the one-attacker-one-defender case, we derive an explicit analytical characterization of the attacker's delayed attack region and prove its convexity under mild assumptions. When the defender can guarantee capture, we formulate a convex optimization problem to compute the capture point and derive optimal strategies for both players. These strategies are shown to constitute a subgame-perfect Nash equilibrium by exploiting the sequential structure induced by the information delay. The analysis is further extended to the one-attacker-multiple-defender scenario and to the general multiplayer setting. In the latter case, delay-aware pairwise winning relations are incorporated into a maximum matching formulation to address the defender-attacker assignment. Numerical simulations for one-on-one, one-vs-multiple, and multi-agent cases validate the theoretical results and illustrate the impact of information delay on game outcomes and optimal strategies.
Source: arXiv (Cornell University)
Authors: Zhao, Zehua, Yan, Rui, He, Jianping, Duan, Xiaoming
Institutions: Shanghai Jiao Tong University, Beihang University
Topic: Guidance and Control Systems
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7165759108
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