A Pursuit-evasion Game Between Unmanned Aerial Vehicles

Alexander Alexopoulos, Tobias Schmidt, Essameddin Badreddin


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.


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Paper Citation

in Harvard Style

Alexopoulos A., Schmidt T. and Badreddin E. (2014). A Pursuit-evasion Game Between Unmanned Aerial Vehicles . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 74-81. DOI: 10.5220/0005038600740081

in Bibtex Style

author={Alexander Alexopoulos and Tobias Schmidt and Essameddin Badreddin},
title={A Pursuit-evasion Game Between Unmanned Aerial Vehicles},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

in EndNote Style

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Pursuit-evasion Game Between Unmanned Aerial Vehicles
SN - 978-989-758-040-6
AU - Alexopoulos A.
AU - Schmidt T.
AU - Badreddin E.
PY - 2014
SP - 74
EP - 81
DO - 10.5220/0005038600740081