Multi-robot Pursuit-evasion

convex nonconvex dynamic

In this work, a decentralized control policy to encircle and capture an evader is introduced, which allows pursuers to efficiently trap the evader, increasing greater chance of a successful capture in large, open, obstacle-rich areas with random initial configurations.

References:

[1] OA-ECBVC: A Cooperative Collision-free Encirclement and Capture Approach in Cluttered Environments. X. Wang, Y. Ding, Y. Chen, R. Han, L. Xi*, B. M. Chen. IEEE Conference on Decision and Control (CDC), 2023. [PDF] [Video]

[2] Distributed Encirclement and Capture of Multiple Pursuers with Collision Avoidance. X. Wang, L. Xi, Y. Ding*, B. M. Chen. IEEE Transactions on Industrial Electronics (TIE), 2023. [PDF] [Video]