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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2412.09939 |
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| _version_ | 1866915062862577664 |
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| author | Maity, Dipankar Pourghorban, Arman |
| author_facet | Maity, Dipankar Pourghorban, Arman |
| contents | We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some of the defenders are sensing-limited and do not have any information regarding the intruder's position or velocity at any time. The defenders may communicate with each other using a connected communication graph. We propose a decentralized feedback strategy for the defenders, which transforms the simultaneous capture problem into a unique nonlinear consensus problem. We derive a sufficient condition for simultaneous capture in terms of the agents' speeds, sensing, and communication capabilities. The proposed decentralized controller is evaluated through extensive numerical simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_09939 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Cooperative Target Defense under Communication and Sensing Constraints Maity, Dipankar Pourghorban, Arman Systems and Control We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some of the defenders are sensing-limited and do not have any information regarding the intruder's position or velocity at any time. The defenders may communicate with each other using a connected communication graph. We propose a decentralized feedback strategy for the defenders, which transforms the simultaneous capture problem into a unique nonlinear consensus problem. We derive a sufficient condition for simultaneous capture in terms of the agents' speeds, sensing, and communication capabilities. The proposed decentralized controller is evaluated through extensive numerical simulations. |
| title | Cooperative Target Defense under Communication and Sensing Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2412.09939 |