Herding an Adversarial Swarm in an Obstacle Environment

2019/06/21 by Chipade, Vishnu S., Panagou, Dimitra
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.1906.08925

Abstract

This paper studies a defense approach against a swarm of adversarial agents. We employ a closed formation (`StringNet') of defending agents around the adversarial agents to restrict their motion and guide them to a safe area while navigating in an obstacle-populated environment. Control laws for forming the StringNet and guiding it to a safe area are developed, and the stability of the closed-loop system is analyzed formally. The adversarial swarm is assumed to move as a flock in the presence of rectangular obstacles. Simulation results are provided to demonstrate the efficacy of the approach.

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