论文标题
Apollonius分配算法，用于捕获多个逃避者的异质追随者
Apollonius Allocation Algorithm for Heterogeneous Pursuers to Capture Multiple Evaders
论文作者
论文摘要
在本文中，我们解决了涉及多个追随者和多个逃避者的追捕问题。在每个球队都有具有不同速度功能的代理商的意义上，追捕者和逃避队被认为是异质的。假定追随者都遵循不断的轴承策略。一种动态的鸿沟和征服方法，每当瞬间根据所有玩家的瞬时位置将每个逃避者立即分配给一组追捕者，以解决多代理追求问题。在这方面，首先分析相应的多辅助剂单个问题问题。假设逃避者可以遵循任何策略，则为追随者提出了动态任务分配算法。该算法基于众所周知的Apollonius圈子，并允许追随者以聪明的方式分配资源，同时保证在最短时间内捕获逃避者。然后，扩展了拟议的算法以在多诉讼程序设置中分配追随者，这些算法被证明可以在有限的时间内捕获所有逃避者。
In this paper, we address pursuit-evasion problems involving multiple pursuers and multiple evaders. The pursuer and the evader teams are assumed to be heterogeneous, in the sense that each team has agents with different speed capabilities. The pursuers are all assumed to be following a constant bearing strategy. A dynamic divide and conquer approach, where at every time instant each evader is assigned to a set of pursuers based on the instantaneous positions of all the players, is introduced to solve the multi-agent pursuit problem. In this regard, the corresponding multi-pursuer single-evader problem is analyzed first. Assuming that the evader can follow any strategy, a dynamic task allocation algorithm is proposed for the pursuers. The algorithm is based on the well-known Apollonius circle and allows the pursuers to allocate their resources in an intelligent manner while guaranteeing the capture of the evader in minimum time. The proposed algorithm is then extended to assign pursuers in multi-evader settings that is proven to capture all the evaders in finite time.
