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This article revises the peculiarities of Amir Timur's army tactical peculiarities, as well as their influence on the development of martial art of the Muslim East. It is established that Timur effectively used the mobilization potential of his state. The sedentary population of Chorasa and Transoxiana formed the infantry archery units who were taught to fight under cover of large standing shields - chapars. At the same time, loyal nomad tribes were the source of horse cavalry for the Timur's army. The base of battle formation was represented by a tactical "skeleton" formed of forced kanbuls, powerful advance guard and a reserve (that included elite warriors). Such battle formation allowed Timur to effectively face outflanking and frontal attacks of the enemy. Besides, such battle formation also fit for quick shift from defense to massive counterattack, performed by advance guard and kanbuls projected towards the enemy. The vulnerability of weakened flank corps was partially compensated by using infantry archery units with support of dismounted archers. As a rule, massive archery attack stopped the enemy's attack and provided for counterattack. The organizational and tactical autonomy of kul corps, which could embattle independently even if there was a front breakthrough or encirclement, played an important role. Dismounted, enshielded warriors of the corps could repulse the attacks until the deblocking unit approaches. A fast-moving reserve under Timur's personal command could be used for both repulsing an attack and augmenting the advancing troops.

Author continues with publications on the use of troops in strategic and frontlineoperations during World War II. A military-historical analysis of the Belarusianstrategic offensive operation was carried out: the situation in Belarus after the fightingin the winter and spring of 1944; general plans of the parties for the summer-autumncampaign; plans of front commanders to conduct frontline operations and tasks fortroops; issues of coordination between the troops of the fronts, general armies, mobilegroups, artillery and air units during the preparation and conduct of the operation. Aswell conclusions were drawn.The Belarusian strategic offensive operation enriched the theory and practice ofencirclement and the destruction of large enemy groups. The encirclement wasachieved both by a group of fronts and by forces of one front. The encirclement anddestruction of the enemy took place as a single process. During the siege, the ArmyGroup “Center” was crushed and destroyed in parts, and the outer front of theencirclement was created not by defensive actions but by offensive ones. What wasnew in the operational art of the Red Army was that the encirclement of the 105,000-strong Wehrmacht group was reached during a parallel and frontal pursuit at a depthof 200-250 km from the front line. The encirclement and destruction of the enemywas carried out simultaneously.An important condition for achieving a rapid pace of offensive was the high art ofcommand and staff at all levels in the management of troops and high responsibilityand professionalism in the performance of combat missions by personnel.One of the conditions that ensured the success of the strategic operation as awhole was the well-established coordination of all those involved in the operation.The educative side of the use of armored and mechanized troops is their variousemployment. They acted especially effectively as part of mobile groups of armies and fronts.

To solve the problem of cooperative encirclement and simultaneous attack of multiple unmanned aerial vehicles, variational method and Hamiltonian optimization are utilized to design an optimal attack trajectory of multiple attackers pursuing a single target that has fixed initial relative state, fixed final relative state and fixed duration of the attack under condition that the acceleration of the target being estimable. When terminal relative state and attack duration are unknown, online calculation algorithm is used to compute a chain of key intermediate points to create the guidance law and ensure successful deliverance of multiple attackers’ simultaneous attack of the target. The only requirement for the multi-attacker communication network is that it contains a directed spanning tree. The guidance laws can function properly as long as one or more attacker can observe the target. The novel guidance laws practicability are verified by simulation results.

In the many-to-one pursuit-evasion game, autonomous mobile multi-agents can effectively improve the probability of successful hunting by achieving the cooperative encirclement to the target from multiple directions. To solve the encirclement points deployment, a distributed control protocol is proposed based on finite-time consensus. Firstly, the encirclement points deployment is formulated as the coverage control problem on a circle. The presented distributed control protocol can realize uniform coverage on the circle, i.e., optimal encirclement around the target. Secondly, by introducing the strategy of time-varying feedback gain, the convergence rate of closed-loop system turns into finite-time consensus from asymptotical consensus, such that the efficiency of the deployment is improved greatly. Finally, numerical simulations are carried out to verify the effectiveness of the presented distributed control protocols.

America survived as the decisive world power in the 20th century world economy and politics. Whether it will maintain its leadership status in the 21st century or not has started to be questioned in the face of China, which was rapidly developed after 1978 reforms. It has made considerable progress in increasing economic, military and political influence and is expected to continue growth in the near future. In face of reality , the perception of the enemy has started to change drastically both in American administration and its people. The Chinese threat has gradually begun to replace the threat of Islam and Russia. Americans now believe that China is the biggest competitor to its security and leadership status in the world. The US government started to develop strategies and policies for Asia and entered the process of seeking cooperation worldwide. China not only does perceive this as encirclement, but rather, it has expanded its ​​influence by developing projects such as Towards the West strategy, Belt and Road Initiatives, to realize the dream of becoming the world's superpower. Central Asia, with its special geographical location, has gained increasing importance for both America and China, and has emerged as a new competition arena of ​​great powers. In this study, the effects of political and economic developments occurring in China and America to the change on balance of power is evaluated based on quantitative and qualitative data. The trade wars between them and its causes, as well as the importance of Central Asia in the global competition of the two superpowers have been examined.

Exceptional points (EPs) in non-Hermitian systems have recently attracted considerable attention owing to unique state-flipping and peculiar phase accumulation features. The dynamical encirclement ...

Based on minimizing the enclosed area around the target of multi-attackers, two novel guidance laws are created to address the issue of cooperative encirclement and simultaneous attack. The only requirement for the multi-attacker communication network is that it should contain a directed spanning tree, and does not require all attackers to observe the target information, where at least one can observe the target. To reduce the remaining relative distances between the target and attackers simultaneously, and to make the overload in direction perpendicular to the line of sight converge to zero, the multiple-attackers-single-target problem is effectively solved and can avoid collisions among attackers as well as difficulties in estimation of remaining time. Simulation results confirmed the effectiveness of the proposed guidance laws.

A distributed encirclement points deployment scheme for a group of autonomous mobile agents is addressed in this paper. Herein, each agent can measure its own azimuth related to the common target and can at least communicate with its two adjacent neighbors. Given its space-cooperative character, the encirclement points deployment problem is formulated as the coverage control problem on a circle. The measurement range of azimuth sensor is taken into consideration when doing problem formulation, which is closer to the facts in real-world applications. Then, the fully distributed control protocols are put forward based on geometric principle and the convergence is proved strictly with algebraic method. The proposed control protocols can steer the mobile agents to distribute evenly on the circle such that the coverage cost function is minimized, and meanwhile the mobile agents' spatial order on the circle is preserved throughout the systems' evolution. A noteworthy feature of the proposed control protocols is that only the azimuths of a mobile agent and its two adjacent neighbors are needed to calculate the mobile agent's control input, so that the control protocols can be easily implemented in general. Moreover, an adjustable feedback gain is introduced, and it can be employed to improve the convergence rate effectively. Finally, numerical simulations are carried out to verify the effectiveness of the proposed distributed control protocols.

This paper investigates the collective multi-target rotating encirclement formation problem of second-order multi-agent systems, where the inputs are constrained in nonconvex sets. The objective requires that all agents rotate around targets' geometric center with the desired radius and angular velocity. Firstly, the targets' geometric center and rotating radius are calculated by two distributed fixed-time estimators based on the neighbors' information. Then, with the complex domain theory, we construct two consensus vectors complying with the conditions of the multi-target rotating encirclement formation, and propose a distributed multi-target rotating encirclement control scheme to force all agents achieve the desired formation structure. Moreover, a sufficient condition is provided for choosing design parameters with the aid of Lyapunov theory. In order to handle the problem caused by the nonconvex input constraints, a constraint operator is introduced to ensure all control inputs always lie in the corresponding nonconvex sets. Finally, numerical simulation results are presented to demonstrate the effectiveness and correctness of our theoretical control scheme.

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This task is the creation of the history of the 3rd Guards Rifle Division. The article was written on the basis of developments in the field of everyday history. The author used historical-functional and prosopographic methods also. For the first time, the transcript of the conversation is published. V. V. Danilevskii, chairman of the Ural branch of the USSR Academy of Sciences Commission on the history of the Great Patriotic War, with N.F. Efremov, politruk of the 297th separate communications battalion of the 153rd Rifle Division. According to the author, this archival document is a valuable and informative source on the history of the initial the Great Patriotic War period. N. F. Efremov���s story about the time when the 153rd Rifle Division fought the enemy in Belarus and near Smolensk contains many emotional descriptions of combat episodes. V. V. Danilevskii, who had colossal experience of communicating with people, did not interrupt his interlocutor during the conversation. V. V. Danilevskii was limited to clarifying questions for N. F. Efremov. Despite the fact that the transcript has undergone editorial revision, the text retains the style and manner of speech of N. F. Efremov, his experiences, emotions and feelings are visible. The information reported by N. F. Efremov is confirmed in official documents. The article shows the difference in approaches to the collection of materials on the history of the Commission of the Academy of Sciences of the USSR on the history of the Great Patriotic War. One group of scientists believed that priority should be given to the factual side. Another group, on the other hand, believed that the most important thing was to show the person in the war. V. V. Danilevskii was a supporter of the second position. His conversations with the commanders of the 153rd Rifle Division, comes to the fore a participant and eyewitness of epoch-making events.

The Great Patriotic War is one of the state-forming spiritual bonds of our multinational people, the relevance of whose unity is indisputable today. Just as the battle on Kulikovo Field in the distant 1380 served as the final chord in the formation of the Russian people, the Great Patriotic War is an illustrative embodiment of unparalleled courage, selfless perseverance and selfless pursuit of justice, consistently demonstrated by our people throughout its great history. The Battle of Stalingrad, according to the author, can be considered as a kind of "general exam" for the right to preserve not only their statehood, but also national and spiritual identity. Simply put - the exam for the right to live! And this test was passed with honor by our country and its people. The triumph won by Soviet troops on the Stalingrad and Don fronts in the winter of 1942-1943 was not the first Victory won by the Red Army over Nazi Germany and its satellites. The palm of the championship here will forever remain with the Hero City of Moscow, where in the winter of 19411942 the enemy suffered the first major defeat in World War II. Stalingrad also withstood not the longest siege: the main period of the 200 days of the battle for the city falls on assault operations and street battles, unlike the hero City of Leningrad, which avoided street battles, but withstood an unprecedented 900-day siege by any historical and human standards in the conditions of the use by the enemy of all the military-technical instruments of genocide of the civilian population that existed at that time. Stalingrad, on the other hand, is a unique example in military history of operational and tactical art demonstrated by the Soviet high military command. Moreover, the mastery of this art was absolute: from conducting an operational retreat with the avoidance of boilers and encirclements (which had such a disastrous effect on the course of the military campaign up to December 1941), to a general counteroffensive on several fronts with successful encirclement and subsequent defeat of the most combat-ready enemy grouping! It was these circumstances that caused a radical change not only in the Great Patriotic War, but also in the entire Second World War. The Stalingrad triumph of the Red Army, therefore, is a symbol of the inevitability and inevitability of the collapse of any aggressive practice against our country and its peoples.

The target encirclement control of multi-robot systems via deep reinforcement learning has been investigated in this paper. Inspired by the encirclement behavior of dolphins to entrap the fishes, the encirclement control is mainly to enforce the robots to achieve a capturing formation pattern around a target, and can be widely applied in many areas such as coverage, patrolling, escorting, etc. Different from traditional methods, we propose a deep reinforcement learning framework for multi-robot target encirclement formation control, combining the advantages of the deep neural network and deterministic policy gradient algorithm, which is free from the complicated work of building the control model and designing the control law. Our method provides a distributed control architecture for each robot in continuous action space, relying only on local teammate information. Besides, the behavioral output at each time step is determined by its own independent network. In addition, both the robots and the moving target can be trained simultaneously. In that way, both cooperation and competition can be contained, and the results validate the effectiveness of the proposed algorithm.

In their recent article, Brummett and Muaygil reject Bishop et al.’s framing of the debate over standardization in clinical ethics consultation (CEC) “as one between pro-credentialing procedural and anti-credentialing phenomenological,” claiming that this framing “amounts to a false dichotomy between two extreme approaches to CEC.” Instead of accepting proceduralism and phenomenology as a binary, Brummett and Muaygil propose that these two views should be seen as the extreme ends of a spectrum upon which CEC should be done. However, as evidenced by several inconsistencies within their article, they have failed to fully appreciate the concern animating Bishop et al.’s proposal. Additionally, because of this failure, they do not seem to realize that credentialing ethicists for CEC will only create different problems in Saudi Arabia even as it possibly solves some of the current problems they identify. In this commentary, we highlight and clarify Brummet and Muaygil’s five misunderstandings of Bishop et al. This leads us to conclude that while they claim to be advocating a middle way between proceduralism and phenomenology, in fact they would like for us to standardize another proceduralism, albeit one that incorporates some of the “qualitative” values of American bioethics.

ESAANZ ESSAY PRIZE WINNERWith China’s Belt and Road Initiative in full swing, this paper identifies a new “Great Game” in the Eurasian heartland. However, rather than the geopolitical chess of the nineteenth century, the new game is wei qi. In a process of gradual encirclement and subtle coercion, China is outplaying the EU on the Eurasian continent while avoiding direct confrontation. Following the logic of wei qi, China has shown a tendency to occupy the spaces that the EU has neglected – namely the Balkans and the East Mediterranean. Yet the game has not been won yet. Recent crises have undermined China’s global image, and hitherto overeager Eastern European countries are now acting with more caution towards Chinese investors. The EU can be an equal player, but it must do more to “bring along” the struggling economies in its periphery, while counterbalancing China’s influence with alternative partnerships in the Middle East and Asia.

A pursuit-evasion differential game where a group of slow pursuers cooperate in order to capture a high-speed evader is considered. Pursuit of a fast evader is a challenging problem and capture is not guaranteed given the arbitrary initial conditions. Further, cooperation among pursuers is necessary in order for successful encirclement and capture of the fast evader. A novel analysis based on Cartesian Ovals is provided which accurately separates the reachable regions of a pursuer and high-speed evader in the case where the pursuer is endowed with a positive capture radius.

This paper presents a synergy pursuit strategy that multiple underwater robots pursue a single moving target based on finite state machine. The processes of the pursuit are defined as seven different states, and to implement each state, the corresponding strategies are designed. As the strategy for each state is implemented by a corresponding formation control, a synergy control law is also designed for multiple underwater robots. In the design of the pursuit strategy, the definition of encirclement is put forward for the underwater robots. Furthermore, the proof that a point is encircled by other points on the plane is given. To solve the problem of the concealment in the tracking and the pursuit, a semicircular pursuit strategy and a circular pursuit strategy are also proposed. Finally, based on this pursuit strategy, the simulation of whole process is carried out with the MOOS(Mission Oriented Operating Suite) platform, and the effectiveness of the semicircular and circular pursuit strategy are verified by lake experiment with practical robots. The results of simulation and lake experiment prove that this pursuit strategy can realize synergy tracking and pursuit for a single moving target under the given conditions.

The presidential elections in Cuba in March 2018 has raised again the question of the country’s survival. How can Cuba hold up and develop against the economic, cultural, and military encirclement of U.S. imperialism in particular and the capitalist system in general? An answer can be sought in the history of Cuba’s socialist transition, the unique role played by Che Guevara, and the emergence of ideas regarding the possibility (and impossibility) of achieving socialism in one country alone.

This paper addresses the target-encirclement control problem of fractional-order multi-agent systems(FOMASs) with a leader, where the state information of the target can only be obtained by the leader while followers cannot. First, a new target-encirclement control protocol is proposed, where the state estimators of the leader and the target are induced. Next, some sufficient conditions based on the theory of Mittag-Leffler stability are given for achieving target-encirclement control of FOMASs with a leader. Finally, simulation results are provided to demonstrate the effectiveness of the presented results.

During the 1970s, the two power blocs moved toward more peaceful relations through detente and arms limitation. That had a special impact on the two Germanies, and Central and Eastern Europe. However, the Soviets gained many victories worldwide, building up their nuclear arsenals and weapons systems, and also expanding Communist influence in several parts of Africa. US weakness was further aggravated by the loss of the wars in Indo-China and the domestic crises of the Watergate affair. The US felt a growing sense of global threat and even encirclement, which provoked the rise of a new and more determined right-wing and anti-Communist militancy. At the same time, the Soviets were challenged by economic weakness and by human rights movements.

Soon after the Arab Spring shattered Arab politics in the early 2010s, Bashar al-Assad, who had replaced his father as the head of the Baath regime in Syria, has faced with a cohort of domestic, regional and international challenges that aimed to force him to leave the power. Iran has remained one of few international actors that have stood alongside the Assad administration. In this regard, Iran’s policies have varied from diplomatic support to the mobilization of militia forces and troop deployment in support of Assad. Since then Iran’s motivations for standing behind Assad have been questioned by many analysts. Arguments that were put forward to explain Iranian policy toward Syria during the crisis have been ranged from a hypothetical view of Iranian fear of encirclement by the hostile forces to a sectarian consolidation under the Shiite axis. This article asserts that Islamic Republican regime in Iran has a keen interest in maintaining a foothold in Syria, and circulated several complementary narratives to justify its involvement and role in the crisis. The article reviews those narratives in order to comprehend Tehran’s enduring support for the Assad administration, and examines the ways in which Iran supported Assad throughout the conflict.

Social animals have the remarkable ability to organize into collectives to achieve goals unobtainable to individual members. Equally striking is the observation that despite differences in perceptual-motor capabilities, different animals often exhibit qualitatively similar collective states of organization and coordination. Such qualitative similarities can be seen in corralling behaviors involving the encirclement of prey that are observed, for example, during collaborative hunting amongst several apex predator species living in disparate environments. Similar encirclement behaviors are also displayed by human participants in a collaborative problem-solving task involving the herding and containment of evasive artificial agents. Inspired by the functional similarities in this behavior across humans and non-human systems, this paper investigated whether the containment strategies displayed by humans emerge as a function of the task’s underlying dynamics, which shape patterns of goal-directed corralling more generally. This hypothesis was tested by comparing the strategies naïve human dyads adopt during the containment of a set of evasive artificial agents across two disparate task contexts. Despite the different movement types (manual manipulation or locomotion) required in the different task contexts, the behaviors that humans display can be predicted as emergent properties of the same underlying task-dynamic model.

In the existing literature, many methods have been utilized in solving the pursuit evasion game. However, most of these methods have one thing in common: all pursuers have to know the evader's position. This paper presents a method combining the multi-agent leader-following control and reinforcement learning, which aims at addressing a pursuit evasion game only when partial pursuers have the knowledge of the position of the evader who moves randomly in two-dimensional grid space. Through decomposing the team task, pursuers realize the encirclement of the evader. Simulation experiment validates the effectiveness of our method.

Cooperative encirclement in swarm robotics has become an active research field. How to find the target in advance through local communication is an important problem in cooperative encirclement in swarm robotics, because it can bring many important benefits, such as avoiding relying on global information, reducing communication load and completing the task faster and more efficiently. Unfortunately, many of the current researches are done without considering the global information or the local communication to find the target in advance, so it is difficult to achieve better practical results in the application of large-scale cooperative encirclement in swarm robotics. In order to solve this problem, a triangle antenna model and a local interaction strategy are designed. On this basis, a local communication algorithm is developed: antenna communication model algorithm, which is used to complete the task of cooperative encirclement in swarm robotics. In order to verify the feasibility of the antenna communication model algorithm and the effectiveness of the local interaction strategy, we present a scene based on the triangle antenna model for the cooperative encirclement of the local communication swarm robots, and carry out simulation experiments and comparative experiments. The experimental results show that the antenna communication model algorithm and the local interaction strategy can find the target in advance, and complete the task better and faster.

The rapid development of medical tourism has occupied a certain share in the international tourism market and Asian region has also become the main medical tourism reception market. However, the internationalization process of China's medical tourism industry is still relatively backward and it is inferior to the traditional power of medical tourism in Asia. With the development of the digital economy and the digital earth, China should seize the potential of blockchain digital technology to carry out technological innovations in the domestic medical tourism industry, create a new international product line for medical tourism, and highlight the encirclement of international medical tourism.

The adiabatic encirclement of exceptional points in non-Hermitian systems is known to produce surprising non-adiabatic effects. A new study finds a cheat code to exactly emulate this behaviour without ever having to produce an exceptional point.

With the increasing impact of technology on all walks of life, the voice that artificial intelligence will replace broadcasters and hosts is also gradually sounded. It is of great significance how to face the challenge, break through a tight encirclement, and ride on the era express, and produces talents of the broadcasting and hosting art major in line with national demands. Through analysis on the training mode of broadcasting and hosting art major in colleges and universities, this Thesis studies how to train interdisciplinary graduates that are competent with the artificial intelligence technology and proficient in professional knowledge for the society, so as to render certain reference suggestions for promoting educational reform.

Making efficient motion decisions for a multi-robot system is a challenging problem in target encirclement with collision avoidance. Specifically, each robot with local communication has to consider cooperative target encirclement and collision avoidance simultaneously. In this paper, a distributed transferable policy network framework based on deep reinforcement learning is proposed to solve the problem of multi-robot cooperative target encirclement with collision avoidance. The proposed policy network framework is able to process the information of uncertain number of robots and obstacles, which is a desirable property for multi-robot systems. In particular, graph attention communication mechanism is adopted to model multi-robot interactions as a graph and extract cooperative information from the graph. Long short-term memory is used to accept the states of uncertain number of obstacles. In addition, a compound reward is designed to lead the training of the behavior of target encirclement with collision avoidance. Curriculum learning is implemented to speed up the process of this training. Simulation results validate the effectiveness of the proposed algorithm. Moreover, we further show that the learned policy can directly transfer to different scenarios along with good generalization.

The target-encirclement guidance problem for many-to-one missile-target engagement scenario is studied, where the missiles evenly distribute on a target-centered circle during the homing guidance. The proposed distributed target-encirclement guidance law can achieve simultaneous attack of multiple missiles in different line-of-sight directions. Firstly, the decentralization protocols of desired line-of-sight angles are constructed based on the information of neighboring missiles. Secondly, a biased proportional navigation guidance law that can arbitrarily designate the impact angle is cited. The missiles can achieve all-aspect attack on the target in an encirclement manner by combining the biased proportional navigation guidance law and dynamic virtual targets strategy. Thirdly, the consensus protocol of simultaneous attack is designed, which can guarantee that all missiles’ time-to-go estimates achieve consensus asymptotically, and the convergence of the closed-loop system is proved strictly via the Lyapunov stability theory. Finally, numerical simulation results demonstrate the performance and feasibility of the proposed distributed target-encirclement guidance law in different engagement situations.

Despite great changes in Saudi foreign policy over the few years, notably its willingness to become more directly involved in intra-Arab politics and in the Arab-Israeli peace process, Saudi Arabia’s basic approach to foreign affairs has been singularly constant in the more than 50 years since the Kingdom was founded in 1932. Najdi isolation also produced another psychological effect on Saudi foreign-policy perceptions. The peoples of central Arabia developed a strong sense of encirclement because, throughout much of their history, they have indeed been surrounded by enemies. Najd, as central Arabia is called, was until the present century one of the most inhospitable, impenetrable places to live on earth. The Arab world in general was a vastly different place in the 1960s from what it is today, and so was Saudi Arabia. Egypt’s President Nasser so dominated the regional political stage that inter-Arab politics were largely restricted to reactions to his initiatives.

In recent years, western countries have been strengthening their containment of China’s technology development in an all-round way, and the scope of technical restrictions has involved satellite navigation and other strategic emerging industries. As an important support for national security, China’s science and technology security in the field of satellite navigation is facing major challenges. The purpose of this paper is to make a comprehensive analysis of the advantages and disadvantages of China’s satellite navigation technology security and what opportunities and challenges it will face, and to make a qualitative analysis of all combined strategies, then to put forward suggestions for the development of China’s satellite navigation. The analysis based on the SWOT shows that, in order to prevent from major risks in the field of science and technology, and break through the West’s “encirclement” of science and technology, the optimal choices are the “SO” strategies of distinctive advantages, independent innovation, international cooperation, and industrialization. Also, a torsion strategy requires an in-depth analysis of the challenges and weaknesses. To accelerate the construction of an monitoring and pre-alarming system for science and technology security in the field of satellite navigation is a feasible solution.

This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method. National Research Foundation (NRF) Accepted version This work was supported in part by the ST EngineeringNTU Corporate Laboratory through the NRF Corporate Lab@University Scheme and in part by the National Natural Science Foundation of China under Grant 61720106011.

This paper provides an overview of the current state of terrorism in Pakistan. It argues that the Pakistani state’s complex relationship with militancy and terrorism is complicated by three long-standing drivers. These are (1) a profound obsession with and fear of Indian aggression and encirclement among the military and intelligence communities that has led to the periodic support of violent groups and actors in neighbouring Kashmir and Afghanistan; (2) a growing affinity among civilian and military communities with extreme, conservative, and exclusivist forms of Islam that sometimes tacitly support violence; and (3) despite successful counter terrorism operations by the Pakistani state against groups such as Tehrik-e-Taliban Pakistan, the continuing strategic use of extremist organizations within Pakistan by foreign powers and domestic politicians in order to meet short-term political objectives. Through conducting a survey of current terrorism trends related to Afghanistan, Kashmir, Baluchistan...