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About this paper
Qin Yang, Ramviyas Parasuraman
GUT organizes robot pursuit by choosing a team formation before a chasing tactic. In Robotarium experiments, the authors compared it with constant-bearing and pure-pursuit baselines across one-, three-, and five-pursuer settings. Its clearest advantage in energy cost and capture time was in three-pursuer trials at a pursuer-to-evader speed ratio of 0.8:1. It did not differ significantly from pure pursuit with one pursuer, limiting claims of universal superiority.
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