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Paper Title: Cooperative Pursuit-Evasion Games with a Flat Sphere Condition

Authors: Dejan Milutinovic, Alexander Von Moll, Satyanarayana Gupta Manyam, David W. Casbeer, Isaac E. Weintraub,and Meir Pachter

This paper provides the solution of a pursuit-evasion differential game between a faster pursuer and a slower evader on a sphere. The solution results in an interception point and the authors present a condition to ensure that the point remains on the boundary of the Apollonius domain. This condition allows for generalizing planar pursuit-evasion strategies to the sphere, and the authors show how these results are applied by analyzing the scenarios of target guarding and two-pursuer, single evader differential games on the sphere.

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