A cooperative homicidal chauffeur game
A cooperative homicidal chauffeur game
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DOI：
10.1016/j.automatica.2009.03.014
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
S. Bopardikar;F. Bullo;J. Hespanha
中科院分区：
文献类型：
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作者：
S. Bopardikar;F. Bullo;J. Hespanha
我们研究了一个无界平面环境，单个逃避者和多个追赶者沿有界曲率曲线移动的追逃问题。这个问题相当于经典的杀人司机问题的多智能体版本；我们确定了参数范围，在这些参数范围内，单个追踪者不足以保证逃避者被抓获。我们提出了一种新的多阶段合作策略，追赶者以特定的队形移动，并将逃避者限制在一个有界的区域内。提出的策略的灵感来自于各种鱼类的狩猎和觅食行为。我们描述了我们的战略保证会导致监禁的追踪者的所需数量。
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 the 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.