Performance Competition in Cooperative Capturing by Multi-Agent Systems
Koji Tsumura, Shinji Hara, Keiichi Sakurai, Tae-Hyoung Kim · SICE Journal of Control Measurement and System Integration · 2011
In this paper, we deal with a problem to capture a target by linear multi-agent systems where the agents behave autonomously, whereas the target escapes with a reasonable strategy. We consider two cases for the dynamics of the agents and the target. First, for the simple dynamic case, we give a necessary and sufficient condition for the success of the capturing. Then, we extend the results to the general dynamics case and give similar sufficient conditions. The conditions clarify the performance competition between the target and the agents and we propose preferable strategies for them. We also demonstrate the results by using numerical simulations.