Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical Infrastructure
For safety-critical infrastructure protection, this work addresses the specific challenge of defending against aerial attackers in obstacle-rich urban environments.
This paper proposes a method to herd an adversarial aerial attacker to a safe area using a circular arc formation of defenders with vector-field based guidance laws, addressing rectangular obstacles in urban environments. Simulation results demonstrate the approach's effectiveness.
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.