Pursuit evasion: The herding non-cooperative dynamic game

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A class of pursuit evasion problems is studied. This problem involves a "dog" agent herding a "sheep" agent in order to take the sheep to a pen. The problem is stated in terms of the allowable sequential actions of the two agents and the game being played because of the choices each agent has. The solution is obtained using the dynamic programming principle applied in the game setting. The algorithm is analyzed and simulation results are presented.

