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By Shaunak D. Bopardikar A, Francesco Bullo A and João P. Hespanha B


We address a pursuit-evasion problem involving an unbounded planar environment, a single evader and multiple pursuers moving along curves of bounded curvature. The problem amounts to a multi-agent version of the classic homicidal chauffeur problem; we identify parameter ranges in which a single pursuer is not sufficient to guarantee evader capture. We propose a novel multi-phase cooperative strategy in which the pursuers move in specific formations and confine the evader to a bounded region. The proposed strategy is inspired by hunting and foraging behaviors of various fish species. We characterize the required number of pursuers for which our strategy is guaranteed to lead to confinement

Topics: Key words, Pursuit evasion games, Homicidal Chauffeur game
Year: 2013
OAI identifier: oai:CiteSeerX.psu:
Provided by: CiteSeerX
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