LAUSR

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.