Abstract
AbstractSuppose in a given planar circular region, there are smart mobile evaders and we want to find them using sweeping agents. We assume the sweeping agents are in a line formation whose total length is predetermined. We propose procedures for designing a sweeping process that ensures the successful completion of the task, thereby deriving conditions on the sweeping velocity of the linear formation and its path. Successful completion of the task means that evaders with a given limit on their velocity cannot escape the sweeping agents. We present results on the search time given the initial conditions.
Highlights
The aim of this work is to provide a search policy for a line formation of sweeping agents that must guarantee detection of an unknown number of smart evaders initially residing inside a given circular region of radius R0
The search processes can be viewed as a 2-dimensional search in which the actual agents travel on a plane or as a 3-dimensional search where the sweepers are drone like agents which fly over the evader region
In order to overcome the challenges in the circular search that were described, we propose that after scan number N + 1, the agent line formation will travel to the right until cleaning the wave front that propagates from the right portion of the remaining evader region and travel to the left until cleaning the remaining evader region
Summary
The aim of this work is to provide a search policy for a line formation of sweeping agents that must guarantee detection of an unknown number of smart evaders initially residing inside a given circular region of radius R0. A complete theoretical analysis of trajectories, critical velocities, and search times for a line formation of agents whose mission is to guarantee detection of all smart evaders that are initially located in a given circular region from which they may optimally plan to move out and escape the pursuing sweepers. The authors establish a sufficient condition for the number of searching agents required to guarantee that no evader escapes the region undetected This lower bound is based on the sensor radius, searcher and evader velocities and the initial perimeter of the region. The search problem in the paper is formulated as an optimization problem so that the search progress per arc or linear iteration has to be maximized while guaranteeing that the evader cannot slip past the searcher undetected
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