Optimal Control-Based Dominance Regions for Boundary-Guarding Games with Rotationally-Constrained Autonomous Vehicles

This article solves dominance regions for boundary-guarding games based on optimal control, where autonomous vehicles with rotation constraints serve as defenders to guard the target zone. Based on the definition of transition point, the minimum reach time is explicitly expressed in unbounded and convex domains, respectively. Using the proposed explicit expression of minimum reach time, this article develops a numerical algorithm to generate dominance regions for boundary-guarding games. Finally, simulation results are provided to verify the algorithmic validity to generate dominance regions for rotationally-constrained autonomous vehicles.