基于覆盖控制的任意维非线性达避博弈的多玩家追踪者协调

2020 American Control Conference (ACC) Pub Date : 2020-07-01 DOI:10.23919/ACC45564.2020.9147975

P. Rivera-Ortiz, Y. Diaz-Mercado, Marin Kobilarov

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引用次数: 3

摘要

通过覆盖控制的到达-避免(RA)博弈的概念推广到具有非线性动力学和任意维度的参与者。在任何维度的RA博弈中，追踪者在防御表面上的协调被正式证明是一种充分的合作策略。提出了具有收敛性保证的非线性控制综合策略来实现对所述曲面的覆盖。通过仿真验证了两种覆盖控制方案的有效性。

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Multi-Player Pursuer Coordination for Nonlinear Reach-Avoid Games in Arbitrary Dimensions via Coverage Control

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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2020 American Control Conference (ACC)

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