The Classical Homicidal Chauffeur Game

The classical pursuit-evasion scenario (target tracking) is studied with an interesting perspective. A homicidal chauffeur (pursuer) tries to capture an evader on a 2-dimensional platform (a parking lot). It utilizes a certain feedback control law, which enables the capture. If, however, a time delay is introduced for the sensory perception of the pursuer the performance of the pursuer can show dramatic changes. It may or may not capture its victim depending on this very critical parameter, the sensory time delay. The unique perspective is introduced at this feature.

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Q(λ)-learning fuzzy controller for the homicidal chauffeur differential game

2012 20th Mediterranean Conference on Control & Automation (MED) ◽

10.1109/med.2012.6265646 ◽

2012 ◽

Cited By ~ 5

Author(s):

Badr M. Al Faiya ◽

Howard M. Schwartz

Keyword(s):

Differential Game ◽

Fuzzy Controller ◽

Homicidal Chauffeur

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A Partitioning Scheme for a Switched Feedback Control Law in Two Agent Pursuit-Evasion Scenarios

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4004767 ◽

2011 ◽

Vol 134 (1) ◽

Cited By ~ 4

Author(s):

Brian J. Goode ◽

Andrew J. Kurdila ◽

Michael J. Roan

Keyword(s):

Feedback Control ◽

State Space ◽

The State ◽

Theoretical Development ◽

Control Law ◽

Time Efficiency ◽

True Solution ◽

Pursuit Evasion ◽

Graph Theoretical Approach ◽

Homicidal Chauffeur

A switched feedback control law is derived for an autonomous pursuing agent that attempts to intercept an evading agent whose dynamics are initially unknown. The model of the pursuer’s dynamics is known perfectly, and the evader is modeled as a disturbance. A new method is presented to efficiently update the pursuer’s control law as measurements of the parameters that govern the evader’s dynamics are received. Using a graph theoretical approach, the control law updates are limited to specific partitions of the state space, which eliminate many unneeded calculations. Results show increases in the time efficiency of the update calculations compared to traditional control law generation methods with a minimal loss in accuracy. An 11.6% overall decrease in calculation time over traditional methods and a 1% error rate compared to the true solution is achieved when solving the homicidal chauffeur game. We show how actual gains in time efficiency depend on the specific application of the controller and the size of the state space grid approximation. Both the theoretical development and implementation of the switched feedback controller are discussed.

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