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IDCAIS: Inter-Defender Collision-Aware Interception Strategy against Multiple Attackers

2021-12-22 18:00:51
Vishnu S. Chipade, Dimitra Panagou
arXiv_RO
 
Abstract

This paper presents an Inter-Defender Collision-Aware Interception Strategy (IDCAIS) for defenders to intercept attackers in order to defend a protected area, such that each defender also avoids collision with other defenders. In particular, the defenders are assigned to intercept attackers using a mixed-integer quadratic program (MIQP) that: 1)minimizes the sum of times taken by defenders to capture the attackers under time-optimal control, and2) helps eliminate or delay possible future collisions among the defenders on the optimal trajectories. To prevent inevitable collisions on optimal trajectories or collisions arising due to time-sub-optimal behavior by the attackers, a minimally augmented control using exponential control barrier function (ECBF) is provided. Simulations show the efficacy of the approach.

Abstract (translated)

URL

https://arxiv.org/abs/2112.12098

PDF

https://arxiv.org/pdf/2112.12098.pdf

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