Herding an Adversarial Swarm in Three-dimensional Spaces.

Abstract

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.

Bib

@inproceedings{DBLP:conf/amcc/ZhangCP21,
  author       = {Weifan Zhang and
                  Vishnu S. Chipade and
                  Dimitra Panagou},
  title        = {Herding an Adversarial Swarm in Three-dimensional Spaces},
  booktitle    = {2021 American Control Conference, {ACC} 2021, New Orleans, LA, USA,
                  May 25-28, 2021},
  pages        = {4722--4728},
  publisher    = {{IEEE}},
  year         = {2021},
  url          = {https://doi.org/10.23919/ACC50511.2021.9482990},
  doi          = {10.23919/ACC50511.2021.9482990},
  timestamp    = {Fri, 30 Jul 2021 11:11:53 +0200},
  biburl       = {https://dblp.org/rec/conf/amcc/ZhangCP21.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}