Coordinating Defender Path Planning for Optimal Target-Attacker-Defender Game

Manyam, Satyanarayana G.; Casbeer, David W.; Moll, Alexander L. Von; García, Eloy; Rasmussen, Steven J.

doi:10.2514/6.2019-0388

Cited by 2 publications

(1 citation statement)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [28], the approach does not require perfect knowledge of the states as the agents estimate through the range and heading measurements using an EKF. Manyam et al [29] presented a path planning problem modeled as a TAD game, involving two cooperative agents in an adversarial environment. The second vehicle helps the first vehicle complete a mission by defending against any attackers along the path.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Model Predictive Control Framework For Cooperative Three-Agent Target Defense Game

Manoharan¹,

Sujit²

2022

Preprint

View full text Add to dashboard Cite

This paper presents cooperative target defense guidance strategies using nonlinear model predictive control (NMPC) framework for a target-attacker-defender (TAD) game. The TAD game consists of an attacker and a cooperative target-defender pair. The attacker's objective is to capture the target, whereas the target-defender team acts together such that the defender can intercept the attacker and ensure target survival. We assume that the cooperative target-defender pair do not have perfect knowledge of the attacker states, and hence the states are estimated using an Extended Kalman Filter (EKF). The capture analysis based on the Apollonius circles is performed to identify the target survival regions. The efficacy of the NMPC-based solution is evaluated through extensive numerical simulations. The results show that the NMPC-based solution offers robustness to the different unknown attacker models and has better performance than CLOS and A-CLOS based strategies.

show abstract

Section: Introductionmentioning

confidence: 99%