LAUSR

This article investigates the multiplayer pursuit-evasion (MPE) differential games in the presence of malicious pursuers. First, three types of malicious pursuers, namely greedy, lazy, and traitorous pursuers are formulated by using two subjectively malicious factors in the performance index. Then, an N-player nonzero-sum game framework is established to study the relationships among healthy pursuers, malicious pursuers, and evaders. The capturability and Nash equilibrium of such a new MPE differential game are rigorously analyzed. Finally, the effects of malicious pursuers on the capture time are explicitly quantified by the minimal pursuit coefficient, whose explicit form is obtained by the solutions from coupled Riccati differential equations.