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StringNet: Herding Adversarial Swarm in Obstacle Environment
Vishnu S. Chipade, Dimitra Panagou
Résumé : This paper studies a problem of defending safety-critical infrastructure from adversarial swarm. We employ a closed formation ('StringNet') of defending agents around the adversarial agents to restrict their motion and guide them to a safe area through obstacle populated environment. Control laws for forming this StringNet and guiding it to a safe area are developed and the performance is analyzed formally. Flocking motion is considered for the adversarial swarm in the presence of rectangular obstacles for which modifications to the existing flocking control laws are provided.