{"id":"https://openalex.org/W3000179003","doi":"https://doi.org/10.1109/tcyb.2019.2958548","title":"Cooperative Pursuit With Multi-Pursuer and One Faster Free-Moving Evader","display_name":"Cooperative Pursuit With Multi-Pursuer and One Faster Free-Moving Evader","publication_year":2020,"publication_date":"2020-05-13","ids":{"openalex":"https://openalex.org/W3000179003","doi":"https://doi.org/10.1109/tcyb.2019.2958548","mag":"3000179003","pmid":"https://pubmed.ncbi.nlm.nih.gov/32413935"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2019.2958548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2019.2958548","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.04731","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100684648","display_name":"Xu Fang","orcid":"https://orcid.org/0000-0002-0002-6601"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Xu Fang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100337582","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4630-0805"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["SG","US"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100333005","display_name":"Jie Chen","orcid":"https://orcid.org/0000-0003-2449-9793"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Chen","raw_affiliation_strings":["Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, China","School of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100684648"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":63.493,"has_fulltext":false,"cited_by_count":132,"citation_normalized_percentile":{"value":0.99766468,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"52","issue":"3","first_page":"1405","last_page":"1414"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9632999897003174,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9606000185012817,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pursuer","display_name":"Pursuer","score":0.9826180934906006},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6824658513069153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6784241199493408},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5182266235351562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49695876240730286},{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.4946901500225067},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4688127040863037},{"id":"https://openalex.org/keywords/evasion","display_name":"Evasion (ethics)","score":0.4403362274169922},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40854084491729736},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3827597498893738},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3507477641105652},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3387065529823303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3084438443183899},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2220991551876068},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1868358850479126}],"concepts":[{"id":"https://openalex.org/C2776927521","wikidata":"https://www.wikidata.org/wiki/Q468489","display_name":"Pursuer","level":2,"score":0.9826180934906006},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6824658513069153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6784241199493408},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5182266235351562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49695876240730286},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.4946901500225067},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4688127040863037},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.4403362274169922},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40854084491729736},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3827597498893738},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3507477641105652},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3387065529823303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3084438443183899},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2220991551876068},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1868358850479126},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C8891405","wikidata":"https://www.wikidata.org/wiki/Q1059","display_name":"Immune system","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C203014093","wikidata":"https://www.wikidata.org/wiki/Q101929","display_name":"Immunology","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":4,"locations":[{"id":"doi:10.1109/tcyb.2019.2958548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2019.2958548","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},{"id":"pmid:32413935","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32413935","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null},{"id":"pmh:oai:arXiv.org:2001.04731","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.04731","pdf_url":"https://arxiv.org/pdf/2001.04731","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/153705","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/153705","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.04731","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.04731","pdf_url":"https://arxiv.org/pdf/2001.04731","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6968088389","display_name":null,"funder_award_id":"61720106011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7372966070","display_name":null,"funder_award_id":"6172010601","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W936817270","https://openalex.org/W1548336882","https://openalex.org/W1581842928","https://openalex.org/W1668739223","https://openalex.org/W1844356221","https://openalex.org/W1933492934","https://openalex.org/W1973498302","https://openalex.org/W1997603681","https://openalex.org/W2013298725","https://openalex.org/W2039427135","https://openalex.org/W2046228437","https://openalex.org/W2102956529","https://openalex.org/W2107056176","https://openalex.org/W2134595317","https://openalex.org/W2144267444","https://openalex.org/W2223927396","https://openalex.org/W2284951713","https://openalex.org/W2329356151","https://openalex.org/W2408768628","https://openalex.org/W2462407130","https://openalex.org/W2466197628","https://openalex.org/W2484117929","https://openalex.org/W2492012602","https://openalex.org/W2498529546","https://openalex.org/W2531353635","https://openalex.org/W2547808144","https://openalex.org/W2627013614","https://openalex.org/W2735449579","https://openalex.org/W2761222387","https://openalex.org/W2785598896","https://openalex.org/W2791791691","https://openalex.org/W2801033466","https://openalex.org/W2888914392","https://openalex.org/W2963807539","https://openalex.org/W3105567679","https://openalex.org/W4249479395","https://openalex.org/W6632906641"],"related_works":["https://openalex.org/W2091926052","https://openalex.org/W2057376130","https://openalex.org/W4253161990","https://openalex.org/W2184611791","https://openalex.org/W2039546613","https://openalex.org/W2522390654","https://openalex.org/W114019308","https://openalex.org/W1994748888","https://openalex.org/W4391020716","https://openalex.org/W2546733891"],"abstract_inverted_index":{"This":[0],"article":[1],"addresses":[2],"a":[3,87],"multi-pursuer":[4],"single-evader":[5],"pursuit-evasion":[6],"game":[7],"where":[8],"the":[9,15,19,25,37,48,59,62,74,81,102,115,128,133,137,140,150,155],"free-moving":[10],"evader":[11,39,60,117],"moves":[12],"faster":[13,26,38,75,103,116],"than":[14],"pursuers.":[16],"Most":[17],"of":[18,136,154],"existing":[20],"works":[21],"impose":[22],"constraints":[23],"on":[24,127,146],"evader,":[27,76],"such":[28],"as":[29],"limited":[30],"moving":[31,34],"area":[32],"and":[33,72,77,100,113,132,139,143,152],"direction.":[35],"When":[36],"is":[40,91,118],"allowed":[41],"to":[42,53,57,66,93,96],"move":[43],"freely":[44],"without":[45],"any":[46],"constraint,":[47],"main":[49],"issues":[50],"are":[51,124],"how":[52,65],"form":[54,97],"an":[55,70,98,111],"encirclement":[56,71,99,112],"trap":[58],"into":[61],"capture":[63,82,122],"domain,":[64],"balance":[67],"between":[68,109],"forming":[69,110],"approaching":[73,114],"what":[78],"conditions":[79,123],"make":[80],"possible.":[83],"In":[84],"this":[85],"article,":[86],"distributed":[88],"pursuit":[89],"algorithm":[90,106],"proposed":[92,156],"enable":[94],"pursuers":[95,138],"approach":[101],"evader.":[104,141],"An":[105],"that":[107],"balances":[108],"proposed.":[119],"Moreover,":[120],"sufficient":[121],"derived":[125],"based":[126],"initial":[129],"spatial":[130],"distribution":[131],"speed":[134],"ratios":[135],"Simulation":[142],"experimental":[144],"results":[145],"ground":[147],"robots":[148],"validate":[149],"effectiveness":[151],"practicability":[153],"method.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":14},{"year":2025,"cited_by_count":44},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}