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Optimizing the Locations of Opposing Teams Using Adversarial Voronoi Regions
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0001-9768-2340
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.ORCID iD: 0000-0002-7714-928X
2025 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we introduce the Adversarial Voronoi Regions (AVR) as a way of evaluating and updating the states of opposing teams. While many multi-agent problems focus on cooperative tasks like search and rescue, task allocation, or distributed sensing, there are also adversarial settings where teams compete to maximize their own outcomes, often at the expense of the opposing team. Such scenarios include zero-sum games, various team sports, pursuit-evasion problems, and business competition.We show how the AVR concept can be used to formulate an optimization problem that captures the utility of the positions of agents in adversarial scenarios, such as competing business locations, team sport tactics, and security agents handling potential threats. We also derive the analytical gradient of the AVR utility and show how this can be used to dynamically control the team over time, or to find locally optimal configurations. Then we show that for an agent with a single adversarial neighbor, the gradient drives the agent closer to its neighbor and toward the center of mass of the edge separating them. Finally, we illustrate the approach with practical examples, demonstrating its adaptability in dynamic and competitive scenarios.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2025. p. 1047-1054
National Category
Robotics and automation Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-377963DOI: 10.23919/ECC65951.2025.11187258Scopus ID: 2-s2.0-105030994806OAI: oai:DiVA.org:kth-377963DiVA, id: diva2:2046077
Conference
2025 European Control Conference, ECC 2025, Thessaloniki, Greece, June 24-27, 2025
Note

Part of ISBN 9783907144121

QC 20260316

Available from: 2026-03-16 Created: 2026-03-16 Last updated: 2026-03-16Bibliographically approved

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Costa, Andre N.Ögren, Petter

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