Cooperative Target Capture using Voronoi Region Shaping

TL;DR

This paper introduces a cooperative pursuit strategy that uses Voronoi diagrams to dynamically shape the pursuers' proximity region, ensuring exponential shrinking regardless of the target’s evasion tactics, validated through simulations.

Contribution

The paper presents a novel Voronoi region shaping approach for cooperative pursuit, providing a dynamic control policy that guarantees exponential convergence to capture.

Findings

Proximity region shrinks exponentially over time.

The method is effective regardless of the target’s speed and evasion strategy.

Simulation results confirm the theoretical analysis.

Abstract

This paper discusses a cooperative strategy for capturing a target using multiple pursuers in a planar scenario. Given an initial position distribution of pursuers, the Voronoi Diagram is employed to characterize the target's proximity region. The key idea is to dynamically shape that region using a policy that directs its vertices towards its instantaneous centroid. Analysis of the resulting dynamics deduces the velocity control inputs for the pursuers. As the main result, target's proximity region is shown to shrink exponentially irrespective of its speed and evasion policy. Simulation results demonstrate the characteristics of the proposed method.