Abstract
In this paper, we deal with the problem of pursuing a mobile target by multiple robots in indoor environments embedded with robotic networks. The target is vigilant and its speed can be arbitrarily fast while the speeds of pursuers are limited. Our object in this paper is to design effective pursuit strategies for the robots to track and finally capture the target. By using concepts of tree decomposition from graph theory, we establish an upper bound of the pursuer number that can guarantee successful capture of the mobile target. We then propose a pursuit algorithm, namely, tree-width based graph searching (TWGS), based on the theoretical analysis. Furthermore, we demonstrate the performance of the algorithm for two indoor environments by numerical simulations, which show that TWGS is efficient and the pursuer number given by the theoretical analysis is rather tight.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
