Fixed-Time Cooperative Relay Tracking in Multiagent Surveillance Networks

This paper is concerned with the fixed-time cooperative relay tracking control problem for a set of planar agents in a surveillance network. The plane is partitioned into multiple ``capture regions'' by using the Voronoi partition according to agents' positions. Once an evader enters into a new capture region, one agent of the tracer team stops and the tracking mission is relayed to another one who is in charge of the new region. As a result, an impulsive model is proposed to describe the problem and a distributed fixed-time cooperative relay control strategy is provided that is not dependent on initial condition. Numerical simulations are provided to demonstrate the validness of the cooperative relay tracking scheme.