Target Enclosure for Multiple Targets

  • Masao Kubo
  • Hiroshi Sato
  • Akihiro Yamaguchi
  • Tatsuro Yoshimura
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)


Target enclosure by autonomous robots is useful for many practical applications, for example, surveillance of disaster sites. Scalability is important for autonomous robots because a larger group is more robust against breakdown, accidents, and failure. However, traditional models only discussed cases in which minimum number of robots enclose a single target so that there is no way to utilize the redundant number of robots. In this paper, to achieve a highly scalable target enclosure model about the number of target to enclose, we introduce swarm based task assignment capability to Takayama et al.’s enclosure model. Our robots can enclose without any global predefined position assignments for each target,, for example, a Hamiltonian cycle, a chain structure etc.. The behavior is shown by computer simulations.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Masao Kubo
    • 1
  • Hiroshi Sato
    • 1
  • Akihiro Yamaguchi
    • 2
  • Tatsuro Yoshimura
    • 3
  1. 1.National Defense Academy of JapanYokosukaJapan
  2. 2.Fukuoka Institute of TechnologyFukuokaJapan
  3. 3.Japan Ground Self-Defense ForceTokyoJapan

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