1 research outputs found
Search for Smart Evaders with Swarms of Sweeping Agents
Suppose that in a given planar circular region, there are some smart mobile
evaders and we would like to find them using sweeping agents. We assume that
each agent has a line sensor of length 2r. We propose procedures for designing
cooperative sweeping processes that ensure the successful completion of the
task, thereby deriving conditions on the sweeping velocity of the agents and
their paths. Successful completion of the task means that evaders with a given
limit on their velocity cannot escape the sweeping agents. A simpler task for
the sweeping swarm is the confinement of the evaders to their initial domain.
The feasibility of completing these tasks depends on geometric and dynamic
constraints that impose a lower bound on the velocity that the sweeper swarm
must have. This critical velocity is derived to ensure the satisfaction of the
confinement task. Increasing the velocity above the lower bound enables the
agents to complete the search task as well. We present results on the total
search time as a function of the sweeping velocity of the swarm's agents given
the initial conditions on the size of the search region and the maximal
velocity of the evaders.Comment: arXiv admin note: text overlap with arXiv:1905.0400