# The Pursuit and Evasion of Drones Attacking an Automated Turret

arXiv: https://arxiv.org/abs/2107.12660 · HTML: https://mlsanity.com/paper/2107.12660/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Jul 2021.

## Built on by (most cited first, 1 of 1)

- [A Three-Dimensional Pursuit-Evasion Game Based on Fuzzy Actor-Critic Learning Algorithm](https://mlsanity.com/paper/2503.08013/) (2025)

## Abstract (arXiv)

This paper investigates the pursuit-evasion problem of a defensive gun turret and one or more attacking drones. The turret must ``visit" each attacking drone once, as quickly as possible, to defeat the threat. This constitutes a Shortest Hamiltonian Path (SHP) through the drones. The investigation considers situations with increasing fidelity, starting with a 2D kinematic model and progressing to a 3D dynamic model. In 2D we determine the region from which one or more drones can always reach a turret, or the region close enough to it where they can evade the turret. This provides optimal starting angles for n drones around a turret and the maximum starting radius for one and two drones. We show that safety regions also exist in 3D and provide a controller so that a drone in this region can evade the pan-tilt turret. Through simulations we explore the maximum range n drones can start and still have at least one reach the turret, and analyze the effect of turret behavior and the drones' number, starting configuration, and behaviors.