This invention proposes a multi-hunter-single escape robustness reconstruction and control method and
system based on Set
Transformer-HAPPO. The method and
system construct a three-dimensional multi-agent arrival-avoidance
differential game model with dynamic attrition and replenishment mechanisms. A two-layer
network model consisting of a centralized evaluation network and multiple
distributed decision networks is designed. The centralized evaluation network introduces Set
Transformer to
handle the
variable number of agent inputs, successfully reducing the computational complexity of traditional attention mechanisms, which increases quadratically with the number of agents, to
linear complexity. This makes centralized training of large-scale agent clusters possible with limited computing resources. The
distributed decision networks employ a fixed k-neighbor observation mechanism to maintain a constant input dimension, significantly reducing the deployment cost of traditional methods, which increases linearly with the number of application scenarios, to a constant cost requiring only one training iteration. Simultaneously, a two-layer robustness mechanism is formed through adversarial failure training and active
mask filtering and dynamic topology reconstruction during the deployment phase, effectively improving the
system's failure robustness. The method and system proposed in this invention effectively solve the shortcomings of existing technologies in terms of dynamic scale
adaptation, resistance to disabling attacks, cross-scale migration and computational efficiency. It has the advantages of adaptive training scale, strong failure robustness and efficient training deployment, and can achieve stable collaborative capture of a single escapee by multiple pursuers in adversarial environments.