Time to Capture Target Using Cyclic Pursuit Strategy

Abstract

for co-operative operation of multiple agents. The elegance of this strategy lies in the way the global behaviour of the agents is achieved by implementing local control. This enables control with only local information. Cyclic pursuit has applications in scenarios involving co-operative operation of robots in various military(Reconnaissance, Urban Warfare, Target tracking) and civil(Cartography) contexts. Interest in this problem can be traced back to year 1877, when Edouard Lucas posed a problem about the trajectories that three dogs would trace if they were at the three vertices of an equilateral triangle and each one started to pursue the next dog with constant speed. 1