Herding an Adversarial Swarm in Three-dimensional Spaces
Herding an Adversarial Swarm in Three-dimensional Spaces
复制标题
DOI：
10.23919/acc50511.2021.9482990
复制
发表时间：
2020-07
期刊：
影响因子：
--
通讯作者：
Weifan Zhang;Vishnu S. Chipade;Dimitra Panagou
中科院分区：
文献类型：
--
作者：
Weifan Zhang;Vishnu S. Chipade;Dimitra Panagou
本文提出了一种在三维空间中保护受保护区域免受一群对抗体攻击的防御方法。我们扩展了我们的2D“stringNet放牧”方法，其中在敌对群体周围建立了一个封闭的字符串屏障形成，以限制它们的运动并将它们赶到一个安全的区域，通过引入3D- stringNet到3D空间。3D- stringnet是一个封闭的三维三角形网状屏障。我们提供了一种系统的方法来生成三种类型的3D地层，用于3D放牧过程，并修改了我们早期工作中开发的有限时间收敛控制律。此外，对于给定的防御者初始位置，我们提供了攻击者初始位置的条件，保证防御者在攻击者到达保护区域之前以指定队形聚集在攻击者到达保护区域的最短路径上的位置。仿真研究了该方法。
This paper presents a defense approach to safeguard a protected area against an attack by a swarm of adversarial agents in three-dimensional (3D) space. We extend our 2D ‘stringNet Herding’ approach, in which a closed formation of string-barriers is established around the adversarial swarm to confine their motion and herd them to a safe area, to 3D spaces by introducing 3D-StringNet. 3D-StringNet is a closed 3D formation of triangular netlike barriers. We provide a systematic approach to generate three types of 3D formations that are used in the 3D herding process and modifications to the finite-time convergent control laws developed in our earlier work. Furthermore, for given initial positions of the defenders, we provide conditions on the initial positions of the attackers for which the defenders are guaranteed to gather as a specified formation at a position on the shortest path of the attackers to the protected area before attackers reach there. The approach is investigated in simulations.