Leudo, Santiago JimenezBraun, PhilippSanfelice, Ricardo G.Shames, Iman2025-05-232025-05-232405-8971http://www.scopus.com/inward/record.url?scp=85203067392&partnerID=8YFLogxKhttps://hdl.handle.net/1885/733751788In this paper, we derive a comprehensive hybrid system representation for capture-the-fag games and a corresponding zero-sum game formulation. The hybrid system formulation and implementation is a first step towards the analysis and design of (sub)optimal control laws for the game. A scenario-based controller is employed to test the model in a simulation tool where the rules of the game are encoded.Research partially supported by NSF Grants no. CNS-2039054 and CNS- 2111688, by AFOSR Grants nos. FA9550-19-1-0169, A9550-20-1-0238, FA9550-23-1-0145, and FA9550-23-1-0313, by AFRL Grant nos. FA8651- 22-1-0017 and FA8651-23-1-0004, by ARO Grant no. W911NF-20-1-0253, and by DoD Grant no. W911NF-23-1-01586en© 2024 The Authors. This is an open access article under the CC BY-NC-ND license.game theoryhybrid systemsMulti-player games2024-07-0110.1016/j.ifacol.2024.07.44285203067392