Guarding a Subspace in High-Dimensional Space with Two Defenders and One Attacker

This paper considers a subspace guarding game in high-dimensional space which consists of a play subspace and a target subspace. Two faster defenders cooperate to protect the target subspace by capturing an attacker which strives to enter the target subspace from the play subspace without being captured. A closed-form solution is provided from the perspectives of kind and degree. Contributions of the work include the use of the attack subspace (AS) method to construct the barrier, by which the game winner can be perfectly predicted before the game starts. In addition to this inclusion, with the priori information about the game result, a critical payoff function is designed when the defenders can win the game. Then, the optimal strategy for each player is explicitly reformulated as a saddle-point equilibrium. Finally, we apply these theoretical results to a half-space guarding game in three-dimensional space. Since the whole achieved developments are analytical, they require a little memory without computational burden and allow for real-time updates, beyond the capacity of traditional Hamilton-Jacobi-Isaacs method. It is worth noting that this is the first time in the current work to consider the target guarding games for arbitrary high-dimensional space, and in a fully analytical form.Comment: 12 pages, 2 figure

A Decentralized Multi-UAV Spatio-Temporal Multi-Task Allocation Approach for Perimeter Defense

This paper provides a new solution approach to a multi-player perimeter defense game, in which the intruders' team tries to enter the territory, and a team of defenders protects the territory by capturing intruders on the perimeter of the territory. The objective of the defenders is to detect and capture the intruders before the intruders enter the territory. Each defender independently senses the intruder and computes his trajectory to capture the assigned intruders in a cooperative fashion. The intruder is estimated to reach a specific location on the perimeter at a specific time. Each intruder is viewed as a spatio-temporal task, and the defenders are assigned to execute these spatio-temporal tasks. At any given time, the perimeter defense problem is converted into a Decentralized Multi-UAV Spatio-Temporal Multi-Task Allocation (DMUST-MTA) problem. The cost of executing a task for a trajectory is defined by a composite cost function of both the spatial and temporal components. In this paper, a decentralized consensus-based bundle algorithm has been modified to solve the spatio-temporal multi-task allocation problem, and the performance evaluation of the proposed approach is carried out based on Monte-Carlo simulations. The simulation results show the effectiveness of the proposed approach to solve the perimeter defense game under different scenarios. Performance comparison with a state-of-the-art centralized approach with full observability, clearly indicates that DMUST-MTA achieves similar performance in a decentralized way with partial observability conditions with a lesser computational time and easy scaling up

Perimeter-defense Game between Aerial Defender and Ground Intruder

We study a variant of pursuit-evasion game in the context of perimeter defense. In this problem, the intruder aims to reach the base plane of a hemisphere without being captured by the defender, while the defender tries to capture the intruder. The perimeter-defense game was previously studied under the assumption that the defender moves on a circle. We extend the problem to the case where the defender moves on a hemisphere. To solve this problem, we analyze the strategies based on the breaching point at which the intruder tries to reach the target and predict the goal position, defined as optimal breaching point, that is achieved by the optimal strategies on both players. We provide the barrier that divides the state space into defender-winning and intruder-winning regions and prove that the optimal strategies for both players are to move towards the optimal breaching point. Simulation results are presented to demonstrate that the optimality of the game is given as a Nash equilibrium.Comment: Accepted to CDC 202

Receding Horizon based Cooperative Vehicle Control with Optimal Task Allocation

The problem of cooperative multi-target interception in an uncertain environment is investigated in this thesis. The targets arrive in the mission space sequentially at a priori unknown time instants and a priori unknown locations, and then move on a priori unknown trajectories. A group of vehicles with known dynamics are employed to visit the targets as quickly and efficiently as possible. To this end, a time-discounting reward is defined for each target which can be collected only if one of the vehicles visits that target. A cooperative receding horizon scheme is designed, which predicts the future positions of the targets and maximizes the estimate of the expected total collectible rewards, accordingly. The problem is initially investigated for the case when there are a finite number of targets arriving in the mission space sequentially. It is shown that the number of targets that are not visited by any vehicle in the mission space will be sufficiently small if the targets arrive sufficiently infrequently. The problem is then generalized to the case of infinite number of targets and a finite-time convergence analysis is also presented. A more practical case where the vehicles have limited sensing and communication ranges is also investigated using a game-theoretic approach. The problem is then solved for the case when a cluster of vehicles is required to visit each target. Simulations confirm the efficacy of the proposed strategies

Proceedings of The Multi-Agent Logics, Languages, and Organisations Federated Workshops (MALLOW 2010)

http://ceur-ws.org/Vol-627/allproceedings.pdfInternational audienceMALLOW-2010 is a third edition of a series initiated in 2007 in Durham, and pursued in 2009 in Turin. The objective, as initially stated, is to "provide a venue where: the cost of participation was minimum; participants were able to attend various workshops, so fostering collaboration and cross-fertilization; there was a friendly atmosphere and plenty of time for networking, by maximizing the time participants spent together"