Fuzzy logic to fuse data communicated among multiple pursuing agents

This paper investigates the use of fuzzy logic as a tool to fuse sensed and communicated data from multiple pursuers in a pursuit problem, to improve the individual pursuer´s target tracking. An intuitive approach enables the development of a fuzzy inference system (FIS) to fuse pursuers´ sensed and communicated information. To show that the FIS aids the pursuers in a pursuit, a simulation models the sensor uncertainty and the movement of the targets and pursuers. The paper shows that the introduction of the FIS yields faster mean capture times of all targets with simpler pursuit trajectories as compared to a baseline algorithm.