A cooperative pursuit-evasion game in wireless sensor and actor networks

• A novel multi-step cooperative strategy for pursuit-evasion control is presented.
• A pursuit control law with less state information is proposed to guarantee the line formation.
• A Daisy-Chain Formation algorithm and a sliding mode-based method are presented to control the pursuit.
• We present a cooperative pursuit approach where the evader can be static or dynamic.

This paper studies the problem of the pursuit-evasion game under the wireless sensor and actor networks (WSANs). In order to plan paths for pursuers to capture an evader in the pursuit-evasion game, a novel multi-step cooperative strategy is presented. Under this strategy, the pursuit-evasion game is studied in two stages. In the first stage we assume that the evader is always static in the workplace, and in the second stage the evader will move once it senses the existence of pursuers. A Daisy-Chain Formation algorithm and a sliding mode-based method are presented to control the pursuit. Based on Lyapunov stability theory, the proposed algorithm is proved to be convergent. At last, simulation results are provided to demonstrate the effectiveness of the proposed method.