In Pursuit-Evasion Games (PEGs) multiple robots (the pursuers) collectively determine the location of one or more evaders, and try to corral them. The game terminates when every evader has been corralled by one or more robots. PEGs have motivated interesting research directions in multi-robot coordination. Pursuers may not have line-of-sight visibility to evaders, and a sensor network can help detect and track evaders.

PEG is an application case study of Tenet, a software architecture for Wireless Sensor Network. Tenet architecture provides a wireless subtract for pursuer to communicate and collect sensor data. Tenet simplifies the development of the wireless sensor applications, since it is not necessary to worry about reliability, mobility, routing tree and other issues.