Hierarchical decomposition approach for pursuit-evasion differential game with multiple players

Pursuit-evasion games are among the most widespread, challenging, and important optimization problems. This paper presents a hierarchical decomposition algorithm for pursuit-evasion differential games with multiple pursuers and multiple evaders. The developed algorithm is not only to reduce the complexity of the problem, but also to enable the problem to be solved in a distributed fashion. Consequently, when the scheme is to be implemented, it is possible to increase the speed of the algorithm by breaking it down into multiple independent computational processes