A multi-player reach-avoid differential game with autonomous aerial robots in the three dimensional space is studied. Two pursuers form a team to guard a target against an evader with the same speed as the pursuers. This letter provides the complete solution of this differential game that resides within a high-dimensional state space. The Barrier surface is characterized and the saddle-point strategies are synthesized and verified. Degeneration of the two-pursuer one-evader game into the one-on-one case is addressed and the corresponding strategies are obtained. Finally, several examples illustrate the robustness properties and the guarantees provided by the saddle-point strategies obtained in this letter.

中文翻译：

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3D空间中一类多人Reach-avoid微分博弈的最优策略

研究了一种在三维空间中具有自主飞行机器人的多人避障微分博弈。两名追击者组成一个小组，以与追击者相同的速度保护目标免受逃避者的攻击。这封信提供了这个位于高维状态空间中的微分博弈的完整解决方案。障碍表面被表征，鞍点策略被合成和验证。解决了二人一躲避游戏向一对一情况的退化问题，并得到了相应的策略。最后，几个例子说明了在这封信中获得的鞍点策略所提供的鲁棒性和保证。