{"paper":{"title":"Capture, Shield, or Neutralize: Engagement-Aware Pursuit-Evasion","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Adrian Stoica, Ananya Acharya, Masoud Ataei, Mohammad Javad Khojasteh, Trenton Goyette, Vikas Dhiman","submitted_at":"2026-07-13T01:18:46Z","abstract_excerpt":"This paper introduces a hierarchical control architecture for multi-agent adversarial environments, decoupling strategic task planning from rigorous safety assurance. The system formulates pursuit-evasion as a zero-sum receding-horizon game, solved via an iterative minimax \\acl{mpc} scheme. This allows pursuers to anticipate and block evader trajectories using transverse velocity penalties rather than relying on reactive heuristic formations. To guarantee collision-free operation without compromising the convexity of the \\acl{mpc}, a discrete-time \\acl{cbf} operates as an inner-loop safety fil"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10986","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.10986/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}