研究目的
To formulate and analyze the confinement-escape problem of a defender and an evader in a circular region, differing from traditional pursuit-evasion problems, by designing bio-inspired control strategies and investigating the system's properties and behaviors under various parameters.
研究成果
The study formulates the confinement-escape problem, designs bio-inspired control strategies, and analyzes the system's evolutionary properties. It illustrates motion patterns, escape times, and winning sets under various parameters, revealing phase transitions between successful confinement and escape. The findings highlight the system's sensitivity to critical conditions and provide insights into the dynamics of defender-evader interactions in a circular region.
研究不足
The study is limited to a circular region in 2-D Euclidean space with specific initial conditions. The control strategies are designed for initial non-singular situations, and the analysis does not cover all possible initial configurations or higher-dimensional spaces. Numerical computations introduce inaccuracies, requiring additional feedback control for robustness.
1：Experimental Design and Method Selection:
The study involves formulating the confinement-escape problem, designing bio-inspired control strategies for both the defender and the evader, and analyzing their interactions within a circular region. The theoretical models include single-integrator kinematics for the agents with state-feedback strategies.
2：Sample Selection and Data Sources:
The initial conditions are set with the defender on the circle and the evader inside the circle, ensuring non-collinear configurations. The study focuses on different initial positions of the evader relative to the defender.
3：List of Experimental Equipment and Materials:
The study is theoretical and computational, involving simulations of agent dynamics under designed control laws. No physical equipment is mentioned.
4：Experimental Procedures and Operational Workflow:
The study involves simulating the dynamics of the defender and evader under various parameters (attraction/repulsion coefficients, exponent) to observe motion patterns, escape times, and winning sets. The simulations terminate if the evader escapes or after a preassigned deadline.
5：Data Analysis Methods:
The analysis includes characterizing escape times, winning sets, and contour lines of super-level sets. The study also examines the gradient properties of escape times and phase transitions between successful confinement and escape.
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