We present a numerical approach to finding optimal trajectories for players in a multi-body, asset-guarding game with nonlinear dynamics and non-convex constraints. Using the Iterative Best Response (IBR) scheme, we solve for each players optimal strategy assuming the other players trajectories are known and fixed. Leveraging recent advances in Sequential Convex Programming (SCP), we use SCP as a subroutine within the IBR algorithm to efficiently solve an approximation of each players constrained trajectory optimization problem. We apply the approach to an asset-guarding game example involving multiple pursuers and a single evader (i.e., n-versus-1 engagements). Resulting evader trajectories are tested in simulation to verify successful evasion against pursuers using conventional intercept guidance laws.
Download