A Scalable Approach to Chasing Multiple Moving Targets with Multiple Agents

Chasing multiple mobile targets with multiple agents is important in several applications, such as computer games and police chasing scenarios. Existing approaches can compute optimal policies. However, they have a limited scalability, as they implement expensive minimax searches. We introduce a sub-optimal but scalable approach that assigns individual agents to individual targets and that can dynamically re-compute such assignments. We provide a theoretical analysis, including upper bounds on the number of time steps required to solve an instance. In a detailed empirical evaluation on grid maps, our algorithm scales up very convincingly beyond the limits of previous methods. On small problems, where a comparison to a minimax approach is possible, the results demonstrate a good solution quality for our method.