Herding an Adversarial Attacker to a Safe Area for Defending\n Safety-Critical Infrastructure

2019/03/15 by Vishnu S. Chipade, Dimitra Panagou, Chipade, Vishnu S +1
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Guidance and Control Systems #Robotic Path Planning Algorithms #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1903.06365

openalex publication_date 2019/03/15 · openalex created_date 2022/07/24 · openalex updated_date 2026/07/28

Abstract

This paper investigates a problem of defending safety-critical infrastructure\nfrom an adversarial aerial attacker in an urban environment. A circular arc\nformation of defenders is formed around the attacker, and vector-field based\nguidance laws herd the attacker to a predefined safe area in the presence of\nrectangular obstacles. The defenders' formation is defined based on a novel\nvector field that imposes super-elliptic contours around the obstacles, to\nclosely resemble their rectangular shape. A novel finite-time stabilizing\ncontroller is proposed to guide the defenders to their desired formation while\navoiding obstacles and inter-agent collisions. The efficiency of the approach\nis demonstrated via simulation results.\n

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