Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical Infrastructure

Vishnu S Chipade; Dimitra Panagou

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arXiv · 1903.06365

Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical Infrastructure

Vishnu S Chipade·Dimitra Panagou

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Abstract

This paper investigates a problem of defending safety-critical infrastructure from an adversarial aerial attacker in an urban environment. A circular arc formation of defenders is formed around the attacker, and vector-field based guidance laws herd the attacker to a predefined safe area in the presence of rectangular obstacles. The defenders' formation is defined based on a novel vector field that imposes super-elliptic contours around the obstacles, to closely resemble their rectangular shape. A novel finite-time stabilizing controller is proposed to guide the defenders to their desired formation while avoiding obstacles and inter-agent collisions. The efficiency of the approach is demonstrated via simulation results.

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BibTeX RIS

Vishnu S Chipade, Dimitra Panagou. 2019-03-15. Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical Infrastructure. https://arxiv.org/abs/1903.06365

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