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Distributed Strategies for Pursuit-Evasion of High-Order Integrators
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.).
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.).ORCID iD: 0000-0003-0177-1993
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-1927-1690
2024 (English)In: 2024 IEEE 18th International Conference on Control and Automation, ICCA 2024, Institute of Electrical and Electronics Engineers (IEEE) , 2024, p. 810-814Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents decentralized solutions for addressing pursuit-evasion problems involving high-order in-tegrators with intracoalition cooperation and intercoalition confrontation. To ensure that the control strategies indepen-dent of the relative velocities, accelerations and higher order information of neighbors, we introduce distinct error vari-ables and hyper-variables. Consequently, this approach only requires agents to exchange position information or measure the relative positions of neighbors. The distributed strategies reflect the goals of intracoalition cooperation or intercoalition confrontation of the players. Additionally, we present the conditions for capture and formation control with exponential convergence for three cases: one-pursuer-one-evader, multiple-pursuer-one-evader, and multiple- pursuer- multiple-evader. The results show that the conditions depend on the structure of the communication graph, the weights in the control law, and the expected formation configuration. Finally, the effectiveness of the proposed algorithm is demonstrated through simulation results.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2024. p. 810-814
National Category
Control Engineering Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-351957DOI: 10.1109/ICCA62789.2024.10591926ISI: 001294388500133Scopus ID: 2-s2.0-85200360943OAI: oai:DiVA.org:kth-351957DiVA, id: diva2:1890173
Conference
18th IEEE International Conference on Control and Automation, ICCA 2024, Reykjavik, Iceland, Jun 18 2024 - Jun 21 2024
Note

Part of ISBN 9798350354409

QC 20240829

Available from: 2024-08-19 Created: 2024-08-19 Last updated: 2025-02-05Bibliographically approved

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Zhou, PanpanHu, XiaomingWahlberg, Bo

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CiteExportLink to record
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  • apa
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