Cooperative Pursuit of Multiple Evade rs Based on Location Information Only

This paper addresses a particular pursuit-evasion game, namely the “fishing game”, where several evaders attempt to escape from the encirclement formed by multiple pursuers. Compared to existing research, we design the cooperative pursuit strategy based on location information only and consider more than one evader. We classify the pursuers into primary pursuers and auxiliary pursuers based on their relative positions. Different types of pursuers adopt different motion strategies and cooperate to complete the capture. Under the proposed cooperative pursuit strategy, each pursuer can adjust their behaviors in real-time according to the prediction of the evader's motion intention, balancing between approaching the evader and forming an encirclement. Numerical simulations have been conducted to validate the effectiveness of the proposed strategy.