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Distributed Optimal Solutions for Multiagent Pursuit-Evasion Games for Capture and Formation Control
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. Chinese Univ Hong Kong, Dept Mech & Automat Engn, Shatin, Hong Kong, Peoples R China..
Chinese Univ Hong Kong, Dept Mech & Automat Engn, Shatin, Hong Kong, Peoples R China..ORCID iD: 0000-0002-3839-5787
2024 (English)In: IEEE Transactions on Industrial Electronics, ISSN 0278-0046, E-ISSN 1557-9948, Vol. 71, no 5, p. 5224-5234Article in journal (Refereed) Published
Abstract [en]

In this article, distributed optimal solutions are designed for networked multiagent pursuit-evasion (MPE) games for capture and formation control. In the games, the pursuers aim to minimize the distance from their target evaders while the evaders attempt to maximize it, and at the same time, all the players desire to maintain cohesion with their teammates. The goals of agents are obviously reflected in the obtained optimal control strategies, which consist of an attracting term and/or a repelling term. Nash equilibrium is obtained by means of optimal strategies using the solutions of the Hamilton-Jacobi-Isaacs equations. Furthermore, three scenarios are considered in the MPE game: one-pursuer one-evader, multiple-pursuer one-evader, and multiple-pursuer multiple-evader, where sufficient conditions are given for pursuers in achieving exponential capture or formation control with ultimate zero or bounded errors. It is shown that the conditions depend on the structure of the communication graph, the parameters in the controllers, and the expected formation configurations. Finally, both simulations and real flight experiments successfully demonstrate the effectiveness of the proposed strategies.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2024. Vol. 71, no 5, p. 5224-5234
Keywords [en]
Differential games, formation control, multiagent systems, pursuit-evasion (PE) games
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-343071DOI: 10.1109/TIE.2023.3283684ISI: 001129829900085Scopus ID: 2-s2.0-85162680375OAI: oai:DiVA.org:kth-343071DiVA, id: diva2:1835414
Note

QC 20240209

Available from: 2024-02-06 Created: 2024-02-06 Last updated: 2024-02-09Bibliographically approved

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Zhou, Panpan

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