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Assume that inside an initial planar area there are smart mobile evadersattempting to avoid detection by a team of sweeping searching agents. Allsweepers detect evaders with fan-shaped sensors, modeling the field of view ofreal cameras. Detection of all evaders is guaranteed with cooperative sweepingstrategies, by setting requirements on sweepers' speed, and by carefullydesigning their trajectories. Assume the smart evaders have an upper limit ontheir speed which is a-priori known to the sweeping team. An easier task forthe team of sweepers is to confine evaders to the domain in which they areinitially located. The sweepers accomplish the confinement task if they movesufficiently fast and detect evaders by applying an appropriate searchstrategy. Any given search strategy results in a minimal sweeper's speed inorder to be able to detect all evaders. The minimal speed guarantees theability of the sweeping team to confine evaders to their original domain, andif the sweepers move faster they are able to detect all evaders that arepresent in the region. We present results on the total search time for a novelpincer-movement based search protocol that utilizes complementary trajectoriesalong with adaptive sensor geometries for any even number of pursuers.

Guaranteed Evader Detection in Multi-Agent Search Tasks using Pincer Trajectories