We consider an evasion differential game of many pursuers and one evader with integral constraints in the plane. The game is described by simple equations. Each component of the control functions of players is subjected to integral constraint. Evasion is said to be possible if the state of the evader does not coincide with that of any pursuer. Strategy of the evader is constructed based on controls of the pursuers with lag. A sufficient condition of evasion from many pursuers is obtained and an illustrative example is provided.
Stochastic optimal control to a nonlinear differential game
