A sequential pursuer-target assignment problem under external disturbances

In this paper we deal with the problem of a team of pursuers distributed in the plane subject to an environmental disturbance (e.g., wind). The objective of the pursuers is to intercept a moving target which is not affected by the presence of the disturbance. We solve this problem by assigning only one pursuer to chase the target at every instant of time, based on a Voronoi-like partition of the plane. During the pursuit, the pursuer assignment changes dynamically based on this partition. We present an algorithm to efficiently update this Voronoi-like partition on-line. Simulations are included to illustrate the theoretical results.