LP‐Based Multi‐Vehicle Path Planning with Adversaries

Competing Swarms of Autonomous Vehicles: Intruders Versus Guardians

“…This definition requires the guardian to track the target, in contrast to target intercept where distance condition has to be satisfied only instantaneously [6][7][8][9]. We also introduce another perceptual range that determines when the pursuit behavior is triggered:…”

“…Although the aforementioned works consider strategies for a group of agents against a single agent, there are also studies of the competitions between two groups of agents. For example, the multiplayer reach-avoid game deals with a scenario where one group seeks to reach an area quickly while the other group tries to delay or prevent it [6][7][8].…”

“…However, the capture-the-flag problem is very complex because it also involves an attacking-defending aspect and, possibly, switching of the agent roles, as well as the assignment problem to decide which agent should pursue which opposing agent. Some works have tackled this complex problem by combining the tools from differential games and graph theory [6,9], whereas some other works made some simplifying assumptions on the attackers' dynamics and used optimization techniques [7,8].…”

“…Agent dynamics are typically modeled as first order (i.e., control input is velocity) and target capture is often defined by interception (i.e., distance becomes sufficiently small) [6][7][8][9]. In contrast, we previously considered a related problem from a dynamics perspective, inspired by the swarming behavior of mosquitoes [10,11].…”