Guaranteed decentralized pursuit-evasion in the plane with multiple pursuers

Pursuit-evasion games are an important problem in robotics and control, but games with many players are difficult to analyze and solve. This paper studies a game of multiple pursuers cooperating to capture a single evader in a bounded, convex, polytope in the plane. We present a decentralized control scheme based on the Voronoi partion of the game domain, where the pursuers jointly minimize the area of the evader´s Voronoi cell. We prove that capturing the evader is guaranteed under this scheme regardless of the evader´s actions, and show simulation results demonstrating the pursuit strategy.