A Relay Pursuit Scheme for a Heterogeneous Pursuit-Evasion Game With Measurement Uncertainty

This article investigates the multipursuer single-evader (MPSE) pursuit-evasion game under practical challenges, including pursuer non-holonomic constraints, heterogeneous player kinematics, and adversarial measurement uncertainty. To address the limitations of classical relay pursuit schemes, this study makes three key contributions: 1) we propose a novel round pursuit strategy that enables an active pursuer to herd the evader towards a static teammate actively, and subsequently derive rigorous capture conditions under measurement uncertainty; 2) we develop a time-optimal arched switching line for active pursuer assignment, which incorporates relative angles and velocities, in contrast to traditional distance-only hyperbolic switching methods; and 3) we construct a complete dominance region partition that systematically guides the selection between direct pursuit and cooperative herding strategies. These components are integrated into an advanced relay pursuit scheme. Experimental results demonstrate that the proposed scheme significantly reduces capture time compared to classical methods, validating its practical superiority.