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The goal of this research is to devise guaranteed defense policies that allowto protect a given region from the entrance of smart mobile invaders bydetecting them using a team of defending agents equipped with identical linesensors. By designing cooperative defense strategies that ensure all invadersare detected, conditions on the defenders' speed are derived. Successfulaccomplishment of the defense task implies invaders with a known limit on theirspeed cannot slip past the defenders and enter the guarded region undetected.The desired outcome of the defense protocols is to defend the area andadditionally to expand it as much as possible. Expansion becomes possible ifthe defenders' speed exceeds a critical speed that is necessary to only defendthe initial region. We present results on the total search time, criticalspeeds and maximal expansion possible for two types of novel pincer-movementdefense processes, circular and spiral, for any even number of defenders. Theproposed spiral process allows to detect invaders at nearly the lowesttheoretically optimal speed, and if this speed is exceeded, it also allows toexpand the protected region almost to the maximal area.

Defense Against Smart Invaders with Swarms of Sweeping Agents