.png){kind=icon}
Return
IDCAIS: Interdefender Collision-Aware Interception Strategy Against Multiple Attackers
.png){kind=icon}
PRE
AI
DOI：10.1109/TCNS.2025.3649099.png)
.png){kind=icon}
Original request for help.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
In the prior literature on multiagent area defense games, defender-to-attacker assignments are done based on a cost metric associated only with the interception of attackers. In contrast, this article presents an interdefender collision-aware interception strategy for defenders to intercept attackers in order to defend a protected area, such that the defender-to-attacker assignment protocol takes into account not only interception-related costs but also possible future collisions among defenders along their optimal interception trajectories. In particular, in this article, defenders are assigned to intercept attackers using a mixed-integer quadratic program that: 1) minimizes the total time taken by defenders to capture attackers under time-optimal control and 2) helps eliminate or delay possible future collisions among defenders along the optimal trajectories. To prevent inevitable collisions on optimal trajectories or collisions arising due to time-suboptimal behavior by attackers, a minimally augmented control law based on an exponential control barrier function is also provided. Simulation results show the efficacy of the proposed approach.
Keywords:
Games
Trajectory
Protected areas
Collision avoidance
Vectors
Robot kinematics
Optimal control
Computational modeling
Rockets
Programming
Cooperative robots
defense games
multirobot systems and optimal control
Journal
IF:
5
Papers:
1.7K
Citations:
5.8K
Organization
Cited Papers
.png){kind=icon}
ShareSaveShareSaveA differential game approach to planning in adversarial scenarios: A case study on capture-the-flag
PREAI
ShareSaveShareSaveShareSaveMultiple Pursuers Versus One Evader Reach-Avoid Differential Games With Asymmetric Observations
PREAI
ShareSave
View more