多智能体追逃中，无需知对方策略即可限时围捕
Encirclement Guaranteed Finite-Time Capture against Unknown Evader Strategies
- 设计不依赖对手策略的追捕算法，保证围困与限时捕获
- 证明捕获时间有上界，数值实验验证对多种逃逸策略有效
- 适合无人系统协同控制、安防机器人等场景
研究二维无界环境中一群追捕者与单个逃逸者之间的追逃问题。追捕者需在有限时间内完成捕获，并确保逃逸者始终被其位置凸包包围，且无需知晓逃逸者的航向角。现有工作通常将围困与捕获分开处理。本文提出一类追捕策略，无论逃逸者采取何种策略，均可保证在有限时间内完成捕获并维持围困状态。同时，推导了捕获时间的上界。数值结果表明，该框架对多种逃逸策略均具有效性。
原文摘要 · Abstract (English)
We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the convex hull of their positions until capture, without knowledge of the evader's heading angle. Prior works have addressed the problem of encirclement and capture separately in different contexts. In this paper, we present a class of strategies for the pursuers that guarantee capture in finite time while maintaining encirclement, irrespective of the evader's strategy. Furthermore, we derive an upper bound on the time to capture. Numerical results highlight the effectiveness of the proposed framework against a range of evader strategies.
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