Multi-Player Pursuer Coordination for Nonlinear Reach-Avoid Games in Arbitrary Dimensions via Coverage Control
Multi-Player Pursuer Coordination for Nonlinear Reach-Avoid Games in Arbitrary Dimensions via Coverage Control
复制标题
通过覆盖控制在任意维度中进行非线性触及避免游戏的多人追踪协调
DOI：
10.23919/acc45564.2020.9147975
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Marin Kobilarov
中科院分区：
文献类型：
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作者：
P. Rivera;Y. Diaz;Marin Kobilarov
通过覆盖控制达到避免（RA）游戏的概念推广到具有非线性动力学和任意尺寸的球员。在防御面上的追击者协调被正式证明是RA游戏在任何维度上的合作策略。提供了具有收敛保证的非线性控制合成策略以在所述表面上实施覆盖。通过仿真验证了两种覆盖控制方法的有效性。
The concept of reach-avoid (RA) games via coverage control is generalized to players with nonlinear dynamics and in arbitrary dimensions. Pursuer coordination on defense surfaces is formally shown sufficient as a cooperative strategy for RA games in any dimensions. Nonlinear control synthesis strategies with convergence guarantees are provided to enforce coverage on said surfaces. The effectiveness of two coverage control formulations is verified through simulation.