论文标题
搜索与大量扫地代理商的智能逃避者
Search for Smart Evaders with Swarms of Sweeping Agents
论文作者
论文摘要
假设在给定的平面圆形区域中，有一些智能的移动逃避者，我们想使用清扫剂找到它们。我们假设每个代理都有一个长度为2R的线传感器。我们提出了设计合作扫描过程的程序，以确保任务成功完成，从而得出有关代理商及其道路速度的条件。成功完成任务意味着对其速度有限制的逃生者无法逃脱扫荡的代理。扫除群的更简单的任务是将逃避者限制在其最初的域中。完成这些任务的可行性取决于几何和动态约束，这些约束对扫地群必须具有的速度施加了下限。得出这种关键速度以确保对监禁任务的满意度。将速度提高到下限之上，使代理也能够完成搜索任务。鉴于搜索区域的大小和逃避者的最大速度，我们介绍了总搜索时间的总搜索时间的函数。
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing cooperative sweeping processes that ensure the successful completion of the task, thereby deriving conditions on the sweeping velocity of the agents and their paths. Successful completion of the task means that evaders with a given limit on their velocity cannot escape the sweeping agents. A simpler task for the sweeping swarm is the confinement of the evaders to their initial domain. The feasibility of completing these tasks depends on geometric and dynamic constraints that impose a lower bound on the velocity that the sweeper swarm must have. This critical velocity is derived to ensure the satisfaction of the confinement task. Increasing the velocity above the lower bound enables the agents to complete the search task as well. We present results on the total search time as a function of the sweeping velocity of the swarm's agents given the initial conditions on the size of the search region and the maximal velocity of the evaders.
