An optimal evader strategy in a two-pursuer one-evader problem

We consider a relay pursuit-evasion problem with two pursuers and one evader. We reduce the problem to a one-pursuer/one-evader problem subject to a state constraint. A suboptimal control strategy for the evader to prolong capture is proposed and is compared to the optimal evading strategy. Extensions to the multiple-pursuer/one-evader case are also presented and evaluated via numerical simulations.