We study the defense-intrusion game, in which a single attacker robot tries to reach a stationary target that is protected by two defender robots. We focus on the “synchronous intercept problem”, where both robots have to reach the attacker robot synchronously to intercept it. Assume that the attacker robot has the control policy which is based on attraction to the target and repulsion from the defenders, two kinds of synchronous intercept strategies are proposed for the defense-intrusion game, introduced here as Attacker-oriented and Neutral-position-oriented. Theoretical analysis and simulation results show that: (1) the two strategies are able to generate different synchronous intercept patterns: contact intercept pattern and stable non-contact intercept pattern, respectively. (2) The contact intercept pattern allows the defender robots to intercept the attacker robot in finite time, while the stable non-contact intercept pattern generates a periodic attractor that prevents the attack robot from reaching the target for infinite time. There is potential to apply the insights obtained into defense-intrusion in real systems, including aircraft escort and the defense of military targets or territorial boundaries.

我们研究了防御入侵游戏，其中一个攻击者机器人试图到达一个由两个防御者机器人保护的固定目标。我们关注“同步拦截问题”，其中两个机器人都必须同步到达攻击者机器人才能拦截它。假设攻击机器人有它是基于吸引到目标和排斥来自维护者的调控政策，二种同步拦截策略，提出了防御入侵游戏，在这里介绍了作为攻击导向和中性位置导向。理论分析和仿真结果表明：（1）两种策略都能产生不同的同步拦截模式：接触拦截模式和稳定非接触拦截模式。（2）接触拦截模式允许防御机器人在有限时间内拦截攻击者机器人，而稳定的非接触拦截模式会生成周期性的吸引子，从而阻止攻击机器人在无限时间内到达目标。有可能将获得的见解应用于实际系统的防御入侵中，包括飞机护送以及军事目标或领土边界的防御。