A Stigmergy-Based Model for Solving Cooperative Pursuit-Evasion Games in Unknown Environments

We describe our preliminary results for a novel emergent algorithm inspired by the phenomenon of stigmergy in insect colonies, to solve the n-collaborative pursuit-evasion game. Our initial results with different numbers of pursuers and evaders in a scenario simulated within the Webots environment, illustrate that pursuers using our emergent algorithm are able to detect different number of evaders with reasonable accuracy in various settings.