论文标题
放弃三维空间的对抗性群
Herding an Adversarial Swarm in Three-dimensional Spaces
论文作者
论文摘要
本文提出了一种防御方法，以保护保护区免受三维（3D）空间中的一群对抗者的攻击。我们扩展了2d`弦网畜牧方法，在这种方法中，通过引入3D-STRINGNET，在对抗性群周围建立了一个封闭的弦乐器形成，以将其运动局限于安全区域，并将其放到安全区域。 3D-STRINGNET是三角形网状屏障的封闭3D形成。我们提供了一种系统的方法来生成三种类型的3D地层，这些形态在3D放牧过程中使用，并对3D环境所需的有限时间收敛控制定律进行了修改。此外，对于防守者的初始位置，我们提供了攻击者的初始位置的条件，在攻击者的初始位置上，保证在攻击者到达攻击者到达那里之前，在攻击者到达攻击者的最短路径上以指定的形式聚集。
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 net-like 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 \cite{chipade2020swarmherding} that are required for a 3D environment. 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.
