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We present a method for pursuit/evasion that is highly efficient and and scales to large teams of aircraft. The underlying algorithm is an efficient algorithm for solving Markov Decision Processes (MDPs) that supports fully continuous state spaces. We demonstrate the algorithm in a team pursuit/evasion setting in a 3D environment using a pseudo-6DOF model and study performance by varying sizes of team members. We show that as the number of aircraft in the simulation grows, computationalarXiv:1909.04171v1 fatcat:qv7iazoknnfc3ltytdkscqobfm