Heterogeneous Multiplayer Reach-Avoid Differential Game Under Partial Information

This article investigates a defense strategy for the pursuit team under partial information, to minimize the number of evaders reaching the target region. The differential game characterized by players having heterogeneous speeds and sensing radii is decomposed into a collection of subgames, and the defense strategy is divided into a deployment strategy and a task assignment strategy. The deployment strategy is proposed by solving the constrained optimization problem associated with the barrier. The multiplayer task assignment is formulated as a maximum weight bipartite matching problem, and addressed by the sequential constrained integer programming. The effectiveness of the defense strategy is demonstrated through theoretical analysis and experimental validation.