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Paper Title: Mutual Support by Sensor-Attacker Team for a Passive Target
Authors: Prajakta Surve, Shaunak D. Bopardikar, Alexander Von Moll, Isaac Weintraub, and David W. Casbeer
This paper studies a pursuit-evasion problem involving a sensor–attacker team and a mobile target in the unbounded plane. It presents optimal strategies for the sensor–attacker team, characterizes the sensable region—the set of target positions that can be kept within the sensor’s range — and derives target speed bounds based on the relative geometry of the Apollonius circle and the sensable region, determining when capture or escape is guaranteed.
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In subplot (a), the target’s speed is below the threshold, resulting in initial Apollonius circle (A0) to be contained in the initial sensable region (S0), i.e., A0 ⊂ S0 and leading to guaranteed capture. In subplot (b), the target’s speed exceeds the critical threshold, causing the set A0 to extend beyond the sensable region S0, enabling the target to escape. In subplot (c), although the target speed exceeds the critical value, the condition A0 ⊂ S0 still holds, and capture remains guaranteed. In all three subplots the sets At and St are shown at the initial time t = 0 (dashed line) and at the termination time t = tf (solid line).