Pursuer Coordination Against a Fast Evader via Coverage Control

• 成果类型: Article
• 署名作者: Rivera, Phillip; Kobilarov, Marin; Diaz-Mercado, Yancy
• 署名单位: Johns Hopkins University; Johns Hopkins University Applied Physics Laboratory; Johns Hopkins University; University System of Maryland; University of Maryland College Park
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3278794
• 发表日期: 2024
• 页码: 1119-1124
• 关键词: Cooperative control; game theory; Nonlinear systems

摘要

Scalable pursuer coordination for reach-avoid games against a fast evader are developed leveraging coverage control over manifolds. The maintenance of a manifold, termed defense surface, prevents the evader and its target from occupying the same half-space and shown sufficient as a cooperative capture strategy. Nonlinear control synthesis continually reconfigures the pursuers to enable a defense surface via coverage. Simulation results empirically validate that the proposed condition serves as a surrogate objective for pursuer team coordination.