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.

中文翻译：

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与多位追击者和一个更快的自由移动逃避者合作追击

本文讨论了一个多追逐者单逃避者追逃游戏，其中自由移动的逃避者比追逐者移动得更快。现有的大多数工作都对更快的逃避者施加了限制，例如有限的移动区域和移动方向。当允许快速躲避者不受任何约束地自由移动时，主要问题是如何形成包围圈将躲避者困在捕获域中，如何在形成包围和接近快速躲避者之间取得平衡，以及什么条件使捕获可能的。在本文中，提出了一种分布式追捕算法，使追捕者形成包围并接近较快的逃避者。提出了一种在形成包围圈和接近更快的逃避者之间取得平衡的算法。而且，根据初始空间分布和追逃者的速度比推导出足够的捕获条件。地面机器人的仿真和实验结果验证了该方法的有效性和实用性。