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this paper addresses the problem of coordinating multiple robotic pursuers in tracking and catching an adversarial evader in a dynamic environment. We assume that the adversarial evader can be detected independently by one pursuer but two pursuers are needed for a successful capture. We aim to reduce the capture time of the evader. Therefore, we model the motion of the evader by the probabilistic method and incorporate the model into directing the motion of the pursuers. In addition, we keepdoi:10.3182/20080706-5-kr-1001.01760 fatcat:5q5bl6kizjh3db25yzjno6u2oe