DeepAI AI Chat
Log In Sign Up

Defending a Perimeter from a Ground Intruder Using an Aerial Defender: Theory and Practice

09/07/2021
by   Elijah S. Lee, et al.
NYU college
University of Pennsylvania
0

The perimeter defense game has received interest in recent years as a variant of the pursuit-evasion game. A number of previous works have solved this game to obtain the optimal strategies for defender and intruder, but the derived theory considers the players as point particles with first-order assumptions. In this work, we aim to apply the theory derived from the perimeter defense problem to robots with realistic models of actuation and sensing and observe performance discrepancy in relaxing the first-order assumptions. In particular, we focus on the hemisphere perimeter defense problem where a ground intruder tries to reach the base of a hemisphere while an aerial defender constrained to move on the hemisphere aims to capture the intruder. The transition from theory to practice is detailed, and the designed system is simulated in Gazebo. Two metrics for parametric analysis and comparative study are proposed to evaluate the performance discrepancy.

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

12/29/2020

Perimeter-defense Game between Aerial Defender and Ground Intruder

We study a variant of pursuit-evasion game in the context of perimeter d...
12/13/2022

Target Defense against Sequentially Arriving Intruders

We consider a variant of the target defense problem where a single defen...
12/04/2021

A Game-Theoretic Approach for AI-based Botnet Attack Defence

The new generation of botnets leverages Artificial Intelligent (AI) tech...
09/25/2022

Vision-based Perimeter Defense via Multiview Pose Estimation

Previous studies in the perimeter defense game have largely focused on t...
05/30/2019

Optimal Timing of Moving Target Defense: A Stackelberg Game Model

As an effective approach to thwarting advanced attacks, moving target de...
01/15/2019

Self-Stabilization Through the Lens of Game Theory

In 1974 E.W. Dijkstra introduced the seminal concept of self-stabilizati...
03/09/2023

Target Defense against Periodically Arriving Intruders

We consider a variant of pursuit-evasion games where a single defender i...