Mathematical Modeling and Analysis of Multirobot Cooperative Hunting Behaviors

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/184256/figures/184256.fig.004a.svgz" name="184256.fig.004a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Solutions of system variables for <svg height="12.7178pt" id="M42" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 81.3713 12.7178" width="81.3713pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 434C103 434 51 374 23 338L43 317C96 366 146 380 221 375L154 109C149 86 147 68 147 52C147 4 168 -12 197 -12C240 -12 291 25 334 71L320 96C295 75 268 58 252 58C238 58 227 79 238 138C251 211 272 296 292 372C310 372 332 368 350 368C391 368 421 369 434 371C444 388 455 413 471 456Z" id="g113-241"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="483" 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142 338 184 338C294 338 347 275 347 187C347 112 305 39 221 39C160 39 119 71 97 89C88 97 80 96 71 90C59 80 50 67 49 57C48 45 52 36 66 23C80 9 123 -12 169 -12C221 -11 288 15 342 59C403 109 431 165 431 225C431 308 366 395 238 395C212 395 165 379 127 364L153 550Z" id="g113-54"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="480" vert-adv-y="480"></glyph.data></g></svg></td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2015/184256/figures/184256.fig.004b.svgz" name="184256.fig.004b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Solutions of system variables for <svg height="12.7178pt" id="M43" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 81.3713 12.7178" width="81.3713pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 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<div>The evolution of the system variables of cooperative hunting behaviors.</div>

Journal of Robotics

fig4

Figure 4

Figure 4: Mathematical Modeling and Analysis of Multirobot Cooperative Hunting Behaviors 