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This paper investigates the pursuit-evasion problem of a defensive gun turretand one or more attacking drones. The turret must ``visit" each attacking droneonce, as quickly as possible, to defeat the threat. This constitutes a ShortestHamiltonian Path (SHP) through the drones. The investigation considerssituations with increasing fidelity, starting with a 2D kinematic model andprogressing to a 3D dynamic model. In 2D we determine the region from which oneor more drones can always reach a turret, or the region close enough to itwhere they can evade the turret. This provides optimal starting angles for $n$drones around a turret and the maximum starting radius for one and two drones.  We show that safety regions also exist in 3D and provide a controller so thata drone in this region can evade the pan-tilt turret. Through simulations weexplore the maximum range $n$ drones can start and still have at least onereach the turret, and analyze the effect of turret behavior and the drones'number, starting configuration, and behaviors.

The Pursuit and Evasion of Drones Attacking an Automated Turret