Underwater Differential Game: Finite-Time Target Hunting Task with Communication Delay

2022/02/01 by Wei, Wei, Wang, JingJing, Du, Jun +3 · 2 citations
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2202.00329

Abstract

This work considers designing an unmanned target hunting system for a swarm of unmanned underwater vehicles (UUVs) to hunt a target with high maneuverability. Differential game theory is used to analyze combat policies of UUVs and the target within finite time. The challenge lies in UUVs must conduct their control policies in consideration of not only the consistency of the hunting team but also escaping behaviors of the target. To obtain stable feedback control policies satisfying Nash equilibrium, we construct the Hamiltonian function with Leibniz's formula. For further taken underwater disturbances and communication delay into consideration, modified deep reinforcement learning (DRL) is provided to investigate the underwater target hunting task in an unknown dynamic environment. Simulations show that underwater disturbances have a large impact on the system considering communication delay. Moreover, consistency tests show that UUVs perform better consistency with a relatively small range of disturbances.

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• Strategic Communication under Threat: Learning Information Trade-offs in Pursuit-Evasion Games
• Optimizing Split Federated Learning with Unstable Client Participation

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