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Competing Swarms of Autonomous Vehicles: Intruders Versus Guardians

[+] Author Affiliations
Daigo Shishika, Katarina Sherman, Derek A. Paley

University of Maryland, College Park, MD

Paper No. DSCC2017-5133, pp. V002T14A006; 10 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


We consider a competition between two swarms of aerial vehicles, where multiple intruder vehicles try to approach and then leave an area that multiple guardian vehicles are protecting. Pre-existing swarming strategies for the guardians to maximize the probability of capturing a single intruder are summarized. This work considers the case where multiple intruders approach the protected area sequentially with varied time intervals, to study the impact of intrusion frequency on the probability of capture. In addition, we formulate a payoff function treating the competition as a zero-sum game, and use this function to design strategies for the intruders, i.e., how to optimize the time interval between intrusions. We propose an intrusion strategy and demonstrate its performance with numerical simulations.

Copyright © 2017 by ASME
Topics: Vehicles



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