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This article investigates the practical scenarios of chasing an adversarialevader in an unbounded environment with cluttered obstacles. We propose aVoronoi-based decentralized algorithm for multiple pursuers to encircle andcapture the evader by reacting to collisions. An efficient approach ispresented for constructing an obstacle-aware evader-centered bounded Voronoicell (OA-ECBVC), which strictly ensures collision avoidance in various obstaclescenarios when pursuing the evader. The evader can be efficiently enclosed in aconvex hull given random initial configurations. Furthermore, to cooperativelycapture the evader, each pursuer continually compresses the boundary of itsOA-ECBVC to quickly reduce the movement space of the evader while maintainingencirclement. Our OA-ECBVC algorithm is validated in various simulatedenvironments with different dynamic systems of robots. Real-time performance ofresisting uncertainties shows the superior reliability of our method fordeployment on multiple robot platforms.

OA-ECBVC: A Cooperative Collision-free Encirclement and Capture Approach in Cluttered Environments