Cooperative Pursuit in a Non-closed Bounded Domain

Yahong Xing, Gangqi Dong, Zhiqiang Ma, Panfeng Huang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper considers a multi-agent pursuit-evasion game in a bounded domain with multiple exits and obstacles. First, the problem modeling is performed, and the control strategy of the evaders is assumed. Then, based on Voronoi partition and potential field gradient, a pursuit strategy for N-pursuer/M-evader in the non-closed bounded domain is proposed, where the pursuers are classified into three autonomous switchable categories: the goalkeeper, the striker and the defender. The proposed strategy is a low-dimensional algorithm, which can greatly reduce computational costs. Finally, the feasibility and effectiveness are demonstrated by numerical case studies.

Original languageEnglish
Title of host publication2022 International Conference on Automation, Robotics and Computer Engineering, ICARCE 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665475488
DOIs
StatePublished - 2022
Event2022 International Conference on Automation, Robotics and Computer Engineering, ICARCE 2022 - Virtual, Online, China
Duration: 16 Dec 202217 Dec 2022

Publication series

Name2022 International Conference on Automation, Robotics and Computer Engineering, ICARCE 2022

Conference

Conference2022 International Conference on Automation, Robotics and Computer Engineering, ICARCE 2022
Country/TerritoryChina
CityVirtual, Online
Period16/12/2217/12/22

Keywords

  • multi-agent systems
  • non-closed bounded domain
  • potential field gradient
  • Pursuit-evasion games
  • Voronoi partition

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