Search for Smart Evaders With Swarms of Sweeping Agents

Suppose in a given planar region, there are smart mobile evaders and we want to detect them using sweeping agents. We assume that the agents have line sensors of equal length. propose procedures for designing cooperative processes ensure successful completion task, thereby deriving conditions on velocity their paths. Successful task means with known limit cannot escape detection by A simpler swarm is confinement initial domain. The feasibility completing these tasks depends geometric dynamic constraints impose lower bound agent must have. This critical derived achievement task. Increasing above enables complete search as well. present results total time two types novel pincer-movement processes, circular spiral, any even number proposed spiral process allows all while at velocities approach theoretical bound.