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1 Problem diagram 2: Figure 1: case: ρ Pursuer 1 ˙ = u (0) = x ∫ (s) ds ∫ (s) ds
1 Problem diagram 2: Figure 1: case: ρ Pursuer 1 ˙ = u (0) = x ∫ (s) ds ∫ (s) ds
Problem diagram 2
Figure 1: case: 21 11 , 22 12
Pursuer 1
x 11 = u11 ,
x 12 = u12 ,
Pursuer 2
x 21 = u21 ,
x 22 = u22 ,
Evader
y 1 = v1 ,
y1 (0) = y10 ,
v12 (s)ds 12 ,
y 2 = v2 ,
y2 (0) = y20 ,
0
v22 (s)ds 22 .
Theorem
If (12 , 22 ) L4 , then pursuit can be completed.
1. Strategy for the pursuers
let (21 , 22 ) L4 . Then, clearly,
221 < 21 < 211 + 221 , 2 < 22 12 .
{
Set
u12 (t) =
{
u22 (t) =
1
12 (y10
x120i ) + v2 (t), 0 t 12 ,
v2 (t),
t > 12 ,
(1)
1
22 (y20
x220 ) + v2 (t), 0 t 22 ,
v2 (t),
t > 22 ,
(2)
where
(
12 =
y20 x120
12 2
)2
(
, 22 =
y20 x220
22 2
)2
(3)
u212 (t)dt
)2
1
+
=
(y20 x120 ) + v2 (t) dt+
v22 (t)
12
0
12
0
12
12
1
2
=
(y20 x120 )2 +
(y20 x120 )
v2 (t)dt+
v22 (t)dt+
v22 (t)dt.
12
12
12
0
12
=(
12
12
)u212 (t)dt
Since
(
)1/2 (
)1/2
12
12 2
12 2
(1
v
(t))dt
1
dt
v
(t)dt
2
2
0
0
0
12 2 (3)
u212 (t)dt
1
12 (y20
x120 )2 +
2
12 (y20
x120 ) 2 12 + 22
1 (y20
12
x120 ) + 2
)2
= (12 2 + 2 )2 = 212 .
x12
x12 (t)
(4)
On [0,2 ] , we let
u11 (t) = 0, u21 (t) = 0, 0 t 2
Since 12 < 211 + 221 , then, according to Lemma 2, xi1 ( ) = y1 ( ) at some
i {1, 2} and 2 .
Theorem
If (12 , 22 ) L3 , then pursuit can be completed.
1. Strategy for the pursuers
let (21 , 22 ) L3 . Then, clearly,
1 < 21 11 , 22 < 212 + 222 .
3
Set
u11 (t) =
{
u21 (t) =
1
11 (y10
x110 ) + v1 (t), 0 t 11 ,
v1 (t),
t > 11 ,
(5)
1
11 (y10
x110 ) + v1 (t), 0 t 21 ,
v1 (t),
t > 21 ,
(6)
where
(
11 =
y10 x110
11 2
)2
(
, 21 =
y10 x210
21 2
)2
(7)
u211 (t)dt
)2
1
(y10 x110 ) + v1 (t) dt+
+
=
v12 (t)
11
0
11
11
0
11
11
1
2
=
(y10 x110 )2 +
(y10 x110 )
v1 (t)dt+
v12 (t)dt+
v12 (t)dt.
11
11
0
0
11
=(
11
11
)u211 (t)dt
Since
11
(1 v1 (t))dt
11
0
12 dt
)1/2 (
11
0
v12 (t)dt
)1/2
11 1 ,
we obtain
u211 (t)dt
1 (y10
11
1
11 (y10
x110 )2 +
x110 ) + 1
)2
2
11 (y10
x110 ) 1 11 + 12
= (11 1 + 1 )2 = 211 .
x12
x12 (t)
(8)
Then, clearly,
221 < 12 < 211 , 22 < 2 < 12 .
{
Set
u12 (t) =
{
u22 (t) =
where
(
12 =
1
12 (y10
x120 ) + v2 (t), 0 t 12 ,
v2 (t),
t > 12 ,
(9)
1
22 (y20
x220 ) + v2 (t), 0 t 22 ,
v2 (t),
t > 22 ,
(10)
y20 x120
12 2
)2
(
, 22 =
y20 x220
22 2
)2
(11)
u212 (t)dt = (
12
+
0
12
)u212 (t)dt =
12
)2
1
(y20 x120 ) + v2 (t) dt+
v22 (t)
12
12
1
2
=
(y20 x120 )2 +
(y20 x120 )
12
12
v22 (t)dt+
v2 (t)dt+
12
12
12
Since
12
(1 v2 (t))dt
12
0
12 dt
)1/2 (
12
0
v22 (t)dt
)1/2
12 2
we obtain
u212 (t)dt
1 (y20
12
1
12 (y20
x120 )2 +
x120 ) + 2
)2
2
12 (y20
x120 ) 2 12 + 22
= (12 2 + 2 )2 = 212 .
x12
x12 (t)
(12)
v22 (t)dt.