Some Sufficient Conditions for Multi-Player Pursuit-Evasion Games with Continuous and Discrete Observations

For a pursuit-evasion game with two pursuers and two evaders we introduce classes of functions that represent upper and lower approximations of the min function. Using these functions and a Liapunov type of analysis we formulate several sufficient conditions for the guaranteed capture and evasion for the cases with continuous and discrete observation times for the players. Both pursuers and evaders are modeled as nonlinear systems that are affine functions with respect to their control inputs.

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