Multi-agent real-time pursuit

Undeger C., POLAT F.

AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS, vol.21, no.1, pp.69-107, 2010 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 21 Issue: 1
  • Publication Date: 2010
  • Doi Number: 10.1007/s10458-009-9102-0
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.69-107
  • Keywords: Real-time pursuit, Multi-agent search, Real-time search, Path planning, SEARCH
  • Middle East Technical University Affiliated: Yes


In this paper, we address the problem of multi-agent pursuit in dynamic and partially observable environments, modeled as grid worlds; and present an algorithm called Multi-Agent Real-Time Pursuit (MAPS) for multiple predators to capture a moving prey cooperatively. MAPS introduces two new coordination strategies namely Blocking Escape Directions and Using Alternative Proposals, which help the predators waylay the possible escape directions of the prey in coordination. We compared our coordination strategies with the uncoordinated one against a prey controlled by Prey A*, and observed an impressive reduction in the number of moves to catch the prey.