# Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader

arXiv: https://arxiv.org/abs/2001.04731 · HTML: https://mlsanity.com/paper/2001.04731/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jan 2020.

## Built on by (most cited first, 8 of 8)

- [Multi-robot Cooperative Pursuit via Potential Field-Enhanced Reinforcement Learning](https://mlsanity.com/paper/2203.04700/) (2022)
- [Learning Multi-Pursuit Evasion for Safe Targeted Navigation of Drones](https://mlsanity.com/paper/2304.03443/) (2023)
- [Online Planning for Multi-UAV Pursuit-Evasion in Unknown Environments Using Deep Reinforcement Learning](https://mlsanity.com/paper/2409.15866/) (2024)
- [Learned Controllers for Agile Quadrotors in Pursuit-Evasion Games](https://mlsanity.com/paper/2506.02849/) (2025)
- [A Dual Curriculum Learning Framework for Multi-UAV Pursuit-Evasion in Diverse Environments](https://mlsanity.com/paper/2312.12255/) (2023)
- [Intelligent Escape of Robotic Systems: A Survey of Methodologies, Applications, and Challenges](https://mlsanity.com/paper/2310.14485/) (2023)
- [Multi-Robot Pursuit in Parameterized Formation via Imitation Learning](https://mlsanity.com/paper/2410.23586/) (2024)
- [ARBoids: Adaptive Residual Reinforcement Learning With Boids Model for Cooperative Multi-USV Target Defense](https://mlsanity.com/paper/2502.18549/) (2025)

## Abstract (arXiv)

This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method.