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.

翻译：本文探讨了在平面场景中使用多个追踪器捕获目标的协同策略。给定追踪器的初始位置分布，采用Voronoi图来表征目标的邻近区域。核心思想是通过一种将其顶点导向瞬时质心的策略来动态整形该区域。通过对所得动力学特性的分析，推导出追踪器的速度控制输入。作为主要结果，研究证明无论目标的速度与规避策略如何，其邻近区域均会呈指数级收缩。仿真结果验证了所提方法的特性。