Cooperative Target Capture using Voronoi Region Shaping

This paper discusses a cooperative strategy for capturing a target using multiple pursuers in a planar scenario. Given an initial position distribution of pursuers, the Voronoi Diagram is employed to characterize the target's proximity region. The key idea is to dynamically shape that region using a policy that directs its vertices towards its instantaneous centroid. Analysis of the resulting dynamics deduces the velocity control inputs for the pursuers. As the main result, target's proximity region is shown to shrink exponentially irrespective of its speed and evasion policy. Simulation results demonstrate the characteristics of the proposed method.