Assume that inside an initial planar area there are smart mobile evaders attempting to avoid detection by a team of sweeping searching agents. All sweepers detect evaders with fan-shaped sensors, modeling the field of view of real cameras. Detection of all evaders is guaranteed with cooperative sweeping strategies, by setting requirements on sweepers' speed, and by carefully designing their trajectories. Assume the smart evaders have an upper limit on their speed which is a-priori known to the sweeping team. An easier task for the team of sweepers is to confine evaders to the domain in which they are initially located. The sweepers accomplish the confinement task if they move sufficiently fast and detect evaders by applying an appropriate search strategy. Any given search strategy results in a minimal sweeper's speed in order to be able to detect all evaders. The minimal speed guarantees the ability of the sweeping team to confine evaders to their original domain, and if the sweepers move faster they are able to detect all evaders that are present in the region. We present results on the total search time for a novel pincer-movement based search protocol that utilizes complementary trajectories along with adaptive sensor geometries for any even number of pursuers.

翻译：假设初始平面区域内存在试图躲避由搜索智能体团队检测的智能移动逃脱者。所有清扫者配备扇形传感器（模拟真实摄像机的视野）来探测逃脱者。通过设定清扫者速度要求并精心设计其轨迹，采用协同清扫策略可保证检测到所有逃脱者。假设智能逃脱者的速度上限为先验已知信息。对于清扫团队而言，较简单的任务是限制逃脱者始终处于初始区域。若清扫者移动速度足够快并采用适当搜索策略检测逃脱者，则可完成限制任务。任何给定搜索策略都需要达到最低清扫者速度才能检测所有逃脱者。该最低速度可保证将逃脱者限制于原始区域的能力，当清扫者移动速度更快时，则能检测区域内所有存在的逃脱者。我们提出了一种基于钳形运动的新型搜索协议的总搜索时间结果，该协议利用互补轨迹与自适应传感器几何构型，适用于任意偶数个追捕者。