Multi-robot Hunting Behavior

F. Belkhouche, B. Belkhouche, P. Rastgoufard

Research output: Contribution to journalConference articlepeer-review

24 Scopus citations


In this paper we consider the problem of hunting an unpredictably moving prey using a group of robots. We elaborate a mathematical model for the tracking-navigation problem based on geometric rules. This model consists of systems of two differential equations describing the relative motion of the prey with respect to the robots. The control laws are decentralized and the robots move in different modes, namely: navigation-tracking mode, obstacles avoidance mode, cooperative collision avoidance, and circle formation. In the tracking-navigation mode, we use the deviated pursuit strategy, which consists of a closed loop control law based on geometric rules. The properties of this strategy are explored briefly. For obstacles and cooperative collision avoidance, a collision cone approach is used. Our method is illustrated using simulation.

Original languageEnglish (US)
Pages (from-to)2299-2304
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
StatePublished - 2005
EventIEEE Systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on Systems, Man and Cybernetics - Waikoloa, HI, United States
Duration: Oct 10 2005Oct 12 2005

All Science Journal Classification (ASJC) codes

  • General Engineering


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