A Winning Pursuit Strategy for Reach-Avoid Games with Multiple Pursuers and One Evader

This article studies a reach-avoid game involving multiple pursuers and one evader. The evader aims to enter the designated targets without being captured, while the pursuers strive to prevent the evaders from reaching it. It is assumed that all players move with simple motion and that the pursuers are faster. We propose a strategy for the pursuers that guarantees the evader cannot escape from the initial dominance region. The proposed strategy is applicable to multiple, non-convex targets in a reach-avoid game and is also suitable for air-to-ground scenarios. Simulations are provided to illustrate the effectiveness of the strategy.