MAPPO with prioritized fictitious self-play trains net-carrying pursuer drones and an agile evader under CTBR control, outperforming heuristic baselines on catch rate, time-to-catch, and crash rate in simulation.
Optimal vehicle- target assignment: A swarm of pursuers to intercept maneuvering evaders based on ideal proportional navigation,
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Intercepting an Agile Target with Net-Carrying Drones using Competitive Multi-Agent Reinforcement Learning
MAPPO with prioritized fictitious self-play trains net-carrying pursuer drones and an agile evader under CTBR control, outperforming heuristic baselines on catch rate, time-to-catch, and crash rate in simulation.