A Multi-Robot Cooperative Confrontation Game with Limited Range of Motion*

With the development of robotics technology, it is possible for an autonomous robot to accomplish conflict tasks such as target reconnaissance in confrontation environment. Pursuit and evasion conflicts represent challenging problems with important applications in aerospace and robotics. In this paper, we address a novel multi-robot cooperative confrontation game which has three players: a Target, an Attacker and a Defender. The Attacker aims to capture the Target, while avoiding being captured by the faster Defender which is restricted to move in a circular area. The Target cooperates with the Defender to avoid being captured by the Attacker. We characterize some general properties of the multi-robot cooperative confrontation game. Based on the explicit policy method and geometric analysis, the optimal control strategies and the winning conditions for the Attacker are obtained.