Autonomous multi-vehicle teams execute synchronized bounding overwatch and 360-degree containment maneuvers through distributed game-theoretic planning.
Formulating encirclement as a Voronoi-partitioned non-cooperative game allows UGVs to systematically constrict target escape vectors while maintaining mutual fire and sensor coverage support.
While one echelon remains stationary in scanning overwatch mode, the complementary echelon bounds forward into next-cover positions. Dynamic lockstep tokens coordinate movement transitions with zero pause.