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successfully intercepting the evader. The first vessel to reach
the evader was pursuer 2, after 105 min, followed by pursuers 1 and 3, which took 140 min and 198 min, respectively. It is
interesting to notice that the first interception was not accomplished by the vessel that was initially closest to the evader.
This is due to the IUU ship's evading maneuvers decided by
the T::P engine.

In Scenario 2, the mission goals are set differently than in
the previous scenario. Purser vessel 2 is now commanded to
intercept the IUU ship, while vessels 1 and 3 are commanded
to form a surveillance zone around the IUU ship by following it within a fixed pre-defined distance. This strategy can
be useful to block the way in front of the evader to escape local waters, for instance. The vessels are initially located 744,

Fig. 4. Intercepting the IUU ship (Scenario 2).

Fig. 5. Vessel 2 malfunctions during the pursuit. Vessel 1 is commanded to change its mission from surveillance to interception of the evader (Scenario 3).
April 2021	

IEEE Instrumentation & Measurement Magazine	123



Instrumentation & Measurement Magazine 24-2

Table of Contents for the Digital Edition of Instrumentation & Measurement Magazine 24-2

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