FlexNet: an open-formation configuration for cooperative herding in pursuit-evasion games with field of view interactions

Yutong Zhu, Ye Zhang, Yuan Yuan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents a novel cooperative herding strategy with an open-formation configuration called 'FlexNet' in pursuit-evasion games under limited field of view. It is first proved that the desired formation of FlexNet can be generated with limited angular field of view. Then a cooperative pursuit strategy with FlexNet is proposed, which can capture a maneuvering evader by adjusting the shape of the formation. Mathematical proof is given on the capture condition of the FlexNet formation under specific dynamics model of the evader. Compare with closed formations, an open formation allows for better flexibility and reduces cost by using fewer pursuers to achieve a successful capture. Simulation results show that the proposed open-formation configuration and the pursuit strategy is capable of accomplishing given capture tasks.

Original languageEnglish
Title of host publication2024 IEEE 63rd Conference on Decision and Control, CDC 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages196-203
Number of pages8
ISBN (Electronic)9798350316339
DOIs
StatePublished - 2024
Event63rd IEEE Conference on Decision and Control, CDC 2024 - Milan, Italy
Duration: 16 Dec 202419 Dec 2024

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference63rd IEEE Conference on Decision and Control, CDC 2024
Country/TerritoryItaly
CityMilan
Period16/12/2419/12/24

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