MARS: An Educational Environment for Multiagent Robot Simulations

Figure 6

Pursuer-evader game example. Pose of each robot for different times. (a) Initial robot poses. (b)  s. (c)  s. (d) Final robot poses ( s). Pursuer: blue; evader: red; evader Voronoi cell: light red.

(a)

(b)

(c)

(d)