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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.), Mathematics (Div.).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0002-1927-1690
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Numerical Analysis, Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2024 (English)In: Autonomous Intelligent Systems, E-ISSN 2730-616X, Vol. 4, no 1, article id 28Article in journal (Refereed) Published
Abstract [en]

This paper presents decentralized solutions for pursuit-evasion problems involving high-order integrators with intracoalition cooperation and intercoalition confrontation. Distinct error variables and hyper-variables are introduced to ensure the control strategies to be independent of the relative velocities, accelerations and higher order information of neighbors. Consequently, our approach only requires agents to exchange position information or to measure the relative positions of the neighbors. The distributed strategies take into consideration the goals of intracoalition cooperation or intercoalition confrontation of the players. Furthermore, after establishing a sufficient and necessary condition for a class of high-order integrators, we present conditions for capture and formation control with exponential convergence for three scenarios: one-pursuer-one-evader, multiple-pursuer-one-evader, and multiple-pursuer-multiple-evader. It is shown 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
Springer Nature , 2024. Vol. 4, no 1, article id 28
Keywords [en]
Distributed control, High-order integrators, Multi-agent systems, Pursuit-evasion problems
National Category
Control Engineering Computational Mathematics Robotics and automation
Identifiers
URN: urn:nbn:se:kth:diva-358275DOI: 10.1007/s43684-024-00085-7Scopus ID: 2-s2.0-85213500083OAI: oai:DiVA.org:kth-358275DiVA, id: diva2:1925475
Note

QC 20250115

Available from: 2025-01-08 Created: 2025-01-08 Last updated: 2025-02-13Bibliographically approved

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Zhou, PanpanXu, YueyueWahlberg, BoHu, Xiaoming

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Mathematics (Dept.)Mathematics (Div.)Decision and Control Systems (Automatic Control)Numerical Analysis, Optimization and Systems Theory
Control EngineeringComputational MathematicsRobotics and automation

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