Efficient Geometric Algorithm for Pursuit Evasion Game

In this work, we introduce an efficient algorithm for definitive capture of the pursuers in a zero-sum pursuit evasion game, within a bounded environment. We use the geometrical properties of all the players in the game to forma cost function which we minimize either directly or by solving the Hamilton-Jacobi-Bellman equations. Finally we show how the given solution performs similar to the Voronoi based algorithms, and show a few cases where our algorithm performs poorly.