Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical Infrastructure.

Abstract

This paper investigates a problem of defending safety-critical infrastructure from an adversarial aerial attacker in an urban environment. A circular arc formation of defenders is formed around the attacker, and vector-field based guidance laws herd the attacker to a predefined safe area in the presence of rectangular obstacles. The defenders' formation is defined based on a novel vector field that imposes super-elliptic contours around the obstacles, to closely resemble their rectangular shape. A novel finite-time stabilizing controller is proposed to guide the defenders to their desired formation, while avoiding obstacles and inter-agent collisions. The efficacy of the approach is demonstrated via simulation results.

Bib

@inproceedings{DBLP:conf/amcc/ChipadeP19,
  author       = {Vishnu S. Chipade and
                  Dimitra Panagou},
  title        = {Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical
                  Infrastructure},
  booktitle    = {2019 American Control Conference, {ACC} 2019, Philadelphia, PA, USA,
                  July 10-12, 2019},
  pages        = {1035--1041},
  publisher    = {{IEEE}},
  year         = {2019},
  url          = {https://doi.org/10.23919/ACC.2019.8814380},
  doi          = {10.23919/ACC.2019.8814380},
  timestamp    = {Thu, 14 Oct 2021 10:23:10 +0200},
  biburl       = {https://dblp.org/rec/conf/amcc/ChipadeP19.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}