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Lucas Alario secured the winner's spot in Sunday's final, heading in the only goal in the 72nd minute.
where s 5 is the final heading angle of each player, which is the same for both of them.
where k 1, k 2, and k 3 are constants; d f is the final distance between players, computed using the trajectories values; l is capture distance; s 5 is the final heading angle supposed a priori; and (hat {s_{5}}) is the final heading angle, computed with the trajectories using Eq. (33).
Hence, this cost function tries to minimize the error between final heading angle and final difference of speeds, as well as adding a term if capture does not happen.
This algorithm is used in order to obtain the game solution i.e., final heading angle, which is the control, and time of capture, which is the payoff of the game.
Using this approximation allows to reduce the dimensionality of the search to two dimensions, which means a smaller computational cost and time because we only search for final heading angle and final time.
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