This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the evader by reacting to collisions. An efficient approach is presented for constructing an obstacle-aware evader-centered bounded Voronoi cell (OA-ECBVC), which strictly ensures collision avoidance in various obstacle scenarios when pursuing the evader. The evader can be efficiently enclosed in a convex hull given random initial configurations. Furthermore, to cooperatively capture the evader, each pursuer continually compresses the boundary of its OA-ECBVC to quickly reduce the movement space of the evader while maintaining encirclement. Our OA-ECBVC algorithm is validated in various simulated environments with different dynamic systems of robots. Real-time performance of resisting uncertainties shows the superior reliability of our method for deployment on multiple robot platforms.

翻译：本文研究了在存在杂乱障碍物的无界环境中追捕对抗性逃逸者的实际场景。我们提出了一种基于Voronoi图的分布式算法，使多个追捕者通过碰撞反应实现包围并捕获逃逸者。提出了一种高效构建障碍物感知的逃逸者中心有界Voronoi单元（OA-ECBVC）的方法，该方法在追捕逃逸者时严格确保各种障碍物场景下的碰撞避免。在随机初始构型下，逃逸者能被有效包围在凸包内。此外，为合作捕获逃逸者，每个追捕者持续压缩其OA-ECBVC的边界，在维持包围的同时快速缩小逃逸者的运动空间。该算法在多种具有不同机器人动态系统的仿真环境中得到验证。抵抗不确定性的实时性能表明，我们的方法在多机器人平台部署时具有优越的可靠性。