This article designs and tests a dominant region based strategy for a group of defenders to intercept an intruder before it enters a target area. The intruder is intelligent in the sense that it makes decisions based on the defenders’ strategies instead of following a predefined path, making the problem a differential game. When the intruder moves slower than the defenders, the optimal strategies are solved from a geometric concept called the dominant region. These strategies are then extended into the case where the intruder travels faster. Crazyflie 2.1 is used as an experimental platform to test the proposed strategy. For fixed defender locations, a barrier line can be found such that the intruder is guaranteed to be captured outside the target area if it starts beyond.

中文翻译：

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防范智能入侵者的领土：策略设计和实验验证

本文设计并测试了基于优势区域的策略，该策略可让一组防御者在入侵者进入目标区域之前对其进行拦截。从某种意义上讲，入侵者是明智的，它可以根据防御者的策略做出决策，而不是遵循预先定义的路径，从而使问题成为了一场差别游戏。当入侵者的移动速度比防御者慢时，最佳策略是从称为优势区域的几何概念中解决的。然后将这些策略扩展到入侵者传播速度更快的情况下。Crazyflie 2.1用作实验平台来测试所提出的策略。对于固定的防御者位置，可以找到一条隔离线，这样，如果入侵者开始越过，则可以保证将其捕获在目标区域之外。