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Suppose in a given planar region, there are smart mobile evaders and we wantto detect them using sweeping agents. We assume that the agents have linesensors of equal length. We propose procedures for designing cooperativesweeping processes that ensure successful completion of the task, therebyderiving conditions on the sweeping speed of the agents and their paths.Successful completion of the task means that evaders with a known limit ontheir speed cannot escape the sweeping agents. A simpler task for the sweepingswarm is the confinement of the evaders to their initial domain. Thefeasibility of completing these tasks depends on geometric and dynamicconstraints that impose a lower bound on the speed the sweeping agent musthave. This critical speed is derived to ensure the satisfaction of theconfinement task. Increasing the speed above the lower bound enables the agentsto complete the search task as well. We present a quantitative and qualitativecomparison analysis between the total search time of same-direction sweepprocesses and pincer-movement search strategies. We evaluate the differentstrategies by using two metrics, total search time and the minimal criticalspeed required for a successful search. We compare two types of pincer-movementsearch processes, circular and spiral, with their same-direction counterparts,for any even number of sweeping agents. We prove that pincer based strategiesprovide superior results in all practical scenarios and that the spiral pincersweep process allows detection of all evaders while sweeping at nearlytheoretically optimal speeds.

Pincer-Based vs. Same-Direction Strategies of Search for Smart Evaders by Swarms of Agents