Multiplayer Reach-Avoid Differential Games with Defender-Side Information Delay
It provides a theoretical framework for multiplayer reach-avoid games with information delay, which is relevant for autonomous systems and robotics, though the results are incremental extensions of known game-theoretic models.
The paper studies pursuit-evasion games with multiple defenders and attackers under defender-side information delay, deriving analytical characterizations of attack regions and optimal strategies that form subgame-perfect Nash equilibria. Numerical simulations validate the theoretical results.
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.