Abstract
Scalable pursuer coordination for reach-avoid games against a fast evader are developed leveraging coverage control over manifolds. The maintenance of a manifold, termed defense surface, prevents the evader and its target from occupying the same half-space and shown sufficient as a cooperative capture strategy. Nonlinear control synthesis continually reconfigures the pursuers to enable a defense surface via coverage. Simulation results empirically validate that the proposed condition serves as a surrogate objective for pursuer team coordination.
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