Distributed Pursuit-Evasion Game with Adaptive Intention Estimation and Collision Avoidance for Multi-Spacecraft Systems

This paper investigates a multi-pursuer multi-evader pursuit-evasion game in near-circular orbits under thrust limits and collision avoidance constraints. A distributed framework is proposed where each pursuer estimates the unknown evader's intention parameters and state online via an adaptive Kalman filter, thereby transforming the incomplete-information game into a complete-information counterpart. The collision avoidance constraint is embedded through a high-order control barrier function and integrated into a quadratic programming based strategy synthesis derived from the Hamilton-Jacobi-Isaacs equation. Theoretical analysis establishes the uniform ultimate boundedness of the estimation error and the forward invariance of the safe set. Simulation results demonstrate the effectiveness of the proposed approach.