Correction to “Multiplayer Reach–Avoid Differential Games in 3D Space Inspired by Harris’ Hawks’ Cooperative Hunting Tactics”

Correction to “Multiplayer Reach–Avoid Differential Games in 3D Space Inspired by Harris’ Hawks’ Cooperative Hunting Tactics”

PDF

Wanying Ruan¹, Haibin Duan¹^,^*, Yongbin Sun¹, Wanmai Yuan², Jie Xia¹

Research. Vol 6 Article ID 0297

Less

Research. Vol 6 Article ID 0297

• Erratum •

Correction to “Multiplayer Reach–Avoid Differential Games in 3D Space Inspired by Harris’ Hawks’ Cooperative Hunting Tactics”

Full

Wanying Ruan¹, Haibin Duan¹^,^*, Yongbin Sun¹, Wanmai Yuan², Jie Xia¹

Affiliations

¹State Key Laboratory of Virtual Reality Technology and Systems, School of Automation Science and Electrical Engineering, Beihang University, Beijing, China.

²Information Science Academy of CETC, Beijing, China.

Published: 2023-12-20 doi: 10.34133/research.0297

Outline

Cite this Article

Wanying Ruan, Haibin Duan, Yongbin Sun, Wanmai Yuan, Jie Xia. Correction to “Multiplayer Reach–Avoid Differential Games in 3D Space Inspired by Harris’ Hawks’ Cooperative Hunting Tactics”[J]. Research, 2023 , 6 (12) : 0297 - . DOI: 10.34133/research.0297

Full Text

Less

Main Text

Less

In the Research Article “Multiplayer Reach–Avoid Differential Games in 3D Space Inspired by Harris’ Hawks’ Cooperative Hunting Tactics” [1], the publisher made an error. Several equation typos were not corrected during the proofing process.

In the Problem Formulation paragraph beginning with “The point capture is considered in this paper,” the subscript “tar” was not italicized. The sentence now reads, “The game terminates with the pursuers winning if the pursuers capture all evaders, and with the evaders winning if any evader reaches π_tar.”

In the Multiplayer differential game paragraph beginning with “For the multiplayer differential game,” all inequalities used “=,” where the second and third should have used “>” and “<,” respectively. The sentence now reads, “Note that one pursuer is only assigned to one evader, one evader is assigned to one pursuer when Np = Ne, and one evader is assigned to multiple pursuers when Np > Ne, and the case with Np < Ne is not considered.”

The maximum value for H in Eq. 6 was labeled as u^P. It is now u_P.

There are two missing square signs in Eq. 6, and the correct equation is as follows:

u P i x ∗ = λ P i x λ P i x 2 + λ P i y 2 + λ P i z 2, u E j x ∗ = − λ E j x λ E j x 2 + λ E j y 2 + λ E j z 2 u P i y ∗ = λ P i y λ P i x 2 + λ P i y 2 + λ P i z 2, u E j y ∗ = − λ E j y λ E j x 2 + λ E j y 2 + λ E j z 2 u P i z ∗ = λ P i z λ P i x 2 + λ P i y 2 + λ P i z 2, u E j z ∗ = − λ E j z λ E j x 2 + λ E j y 2 + λ E j z 2

In Eq. 7, factors were mislabeled as

V E j t E i C V P i t P j C

. The equation should be

E j C P i C = V E j t E j C V P i t P i C = w ij

Multiple subscripts were incorrectly labeled as “12” instead of “21” or vice versa in Eq. 11. The correct equation is as follows:

u P 1 x ∗ = x I 12 ∗ − x P 1 d I 12 ∗ P 1, u P 2 x ∗ = x I 21 ∗ − x P 2 d I 21 ∗ P 2, u E 1 x ∗ = x I 21 ∗ − x E 1 d I 21 ∗ E 1, u E 2 x ∗ = x I 12 ∗ − x E 2 d I 12 ∗ E 2 u P 1 y ∗ = y I 12 ∗ − y P 1 d I 12 ∗ P 1, u P 2 y ∗ = y I 21 ∗ − y P 2 d I 21 ∗ P 2, u E 1 y ∗ = y I 21 ∗ − y E 1 d I 21 ∗ E 1, u E 2 y ∗ = y I 12 ∗ − y E 2 d I 12 ∗ E 2 u P 1 z ∗ = z I 12 ∗ − z P 1 d I 12 ∗ P 1, u P 2 z ∗ = z I 21 ∗ − z P 2 d I 21 ∗ P 2, u E 1 z ∗ = z I 21 ∗ − z E 1 d I 21 ∗ E 1, u E 2 z ∗ = z I 12 ∗ − z E 2 d I 12 ∗ E 2

The same subscript issue extended into the expansions of

d I 21 ∗ E 1

and

d I 12 ∗ E 2

following Eq. 11. The correct variables are as follows:

d I 21 ∗ E 1 = x I 21 ∗ − x E 1 2 + y I 21 ∗ − y E 1 2 + z I 21 ∗ − z E 1 2,

d I 12 ∗ E 2 = x I 12 ∗ − x E 2 2 + y I 12 ∗ − y E 2 2 + z I 12 ∗ − z E 2 2

In the Simulation Results-Case 1-Example 2 paragraph beginning with “The game result in the first case is shown in Fig. 8A,” the values of V in

D tf 1 = 20.6 > V = 10.283

and

D tf 2 = 21.1744 > V = 10.283

were written incorrectly; they should be the same as

V = z I 11 ∗ + z I 22 ∗ = 11.283

in Example 1. The corrected expressions are

D tf 1 = 20.6 > V = 11.283

and

D tf 2 = 21.1744 > V = 11.283

The authors conclude that these errors did not affect the results, discussion, or conclusion of this paper. The main text and Eqs. 6, 7, and 11 have now been corrected in the PDF and HTML (full text).

References

Less

Ruan

, Duan

, Sun

, Yuan

, Xia

. Multiplayer reach–avoid differential games in 3D space inspired by Harris’ Hawks’ cooperative hunting tactics. Research. 2023;6:0246. https://doi.org/10.34133/research.0246.

Appendix

Less

Year 2023 volume 6 Issue 12

PDF

Cite this Article

BibTeX

Article Info

doi: 10.34133/research.0297

Receive Date：2023-12-13
Online Date：2026-10-28
Published：2023-12-20

Article Data

Affiliations

History

Received：2023-12-13
Accepted：2023-12-13

Affiliations

¹State Key Laboratory of Virtual Reality Technology and Systems, School of Automation Science and Electrical Engineering, Beihang University, Beijing, China.

²Information Science Academy of CETC, Beijing, China.

Corresponding:

^* Address correspondence to: hbduan@buaa.edu.cn

References

Share

https://castjournals.cast.org.cn/joweb/research/EN/10.34133/research.0297

Share to

Scan QR to access full text

Cite this article

BibTeX

Citations

表12种不同金属材料的力学参数

科 Family	属数 Number of genus	种数 Number of species	占总种数比例 Percentage of total species (%)	属 Genus	种数 Number of species	占总种数比例 Percentage of total species (%)
鹅膏菌科Amanitaceae	2	11	5.26	鹅膏菌属 Amanita	10	4.78
小菇科 Mycenaceae	2	12	5.74	丝盖伞属 Inocybe	5	2.39
多孔菌科 Polyporaceae	8	14	6.70	蜡蘑属 Laccaria	5	2.39
红菇科 Russulaceae	3	23	11.00	小皮伞属 Marasmius	6	2.87
				小菇属 Mycena	11	5.26
				光柄菇属 Pluteus	5	2.39
				红菇属 Russula	17	8.13
				栓菌属 Trametes	5	2.39

关闭全屏

BibTeX
EndNote
RefWorks
TxT

Articles: Latest Articles; Most Read; Collections

Updates: Events; News; Multimedia

About: About Us

Contact

No. 86 Xueyuan South Road, Haidian District, Beijing

100081

010-62662699(Operation and Technical Support)

qkjq@cast.org.cn

Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House