{"title":"Multi-Player Pursuer Coordination for Nonlinear Reach-Avoid Games in Arbitrary Dimensions via Coverage Control","authors":"P. Rivera-Ortiz, Y. Diaz-Mercado, Marin Kobilarov","doi":"10.23919/ACC45564.2020.9147975","DOIUrl":null,"url":null,"abstract":"The concept of reach-avoid (RA) games via coverage control is generalized to players with nonlinear dynamics and in arbitrary dimensions. Pursuer coordination on defense surfaces is formally shown sufficient as a cooperative strategy for RA games in any dimensions. Nonlinear control synthesis strategies with convergence guarantees are provided to enforce coverage on said surfaces. The effectiveness of two coverage control formulations is verified through simulation.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC45564.2020.9147975","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
The concept of reach-avoid (RA) games via coverage control is generalized to players with nonlinear dynamics and in arbitrary dimensions. Pursuer coordination on defense surfaces is formally shown sufficient as a cooperative strategy for RA games in any dimensions. Nonlinear control synthesis strategies with convergence guarantees are provided to enforce coverage on said surfaces. The effectiveness of two coverage control formulations is verified through simulation.
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