Multi-Agent Cooperative Pursuit-Defense Strategy Against One Single Attacker

<!DOCTYPE html> <html lang="en" class="no-js"> <head> <meta charset="UTF-8"> <meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=yes"> <title>Multi-Agent Cooperative Pursuit-Defense Strategy Against One Single Attacker</title> <meta id="meta-title" property="citation_title" content="Multi-Agent Cooperative Pursuit-Defense Strategy Against One Single Attacker"/> <meta id="og-title" property="og:title" content="Multi-Agent Cooperative Pursuit-Defense Strategy Against One Single Attacker"/> <meta name="twitter:widgets:autoload" content="off"/> <meta name="twitter:dnt" content="on"/> <meta name="twitter:widgets:csp" content="on"/> <meta name="google-site-verification" content="lQbRRf0vgPqMbnbCsgELjAjIIyJjiIWo917M7hBshvI"/> <meta id="meta-abstract" name="citation_abstract" content="Multiple-player games involving cooperative and adversarial agents are a type of problems of great practical significance. In this letter, we consider an attack-defense game with a single attacker and multiple defenders. The attacker attempts to enter a protected region, while the defenders attempt to defend the same region and capture the attacker outside the region. We propose a distributed pursuit-defense strategy for the defenders' cooperative defense against the attacker. Inside a bounded, convex, two-dimensional space, the defenders choose among an area-decreasing, a distance-decreasing, or a pursuing strategy. We prove that our strategy guarantees the attacker to be captured before entering the protected region in a finite time. We also demonstrate with simulations that a human-controlled attacker is unable to enter a protected region when multiple defenders are using our pursuit-defense strategy."/> <meta id="meta-description" name="description" content="Author(s): Deng, Ziquan; Kong, Zhaodan | Abstract: Multiple-player games involving cooperative and adversarial agents are a type of problems of great practical significance. In this letter, we consider an attack-defense game with a single attacker and multiple defenders. The attacker attempts to enter a protected region, while the defenders attempt to defend the same region and capture the attacker outside the region. We propose a distributed pursuit-defense strategy for the defenders' cooperative defense against the attacker. Inside a bounded, convex, two-dimensional space, the defenders choose among an area-decreasing, a distance-decreasing, or a pursuing strategy. We prove that our strategy guarantees the attacker to be captured before entering the protected region in a finite time. We also demonstrate with simulations that a human-controlled attacker is unable to enter a protected region when multiple defenders are using our pursuit-defense strategy."/> <meta id="og-description" name="og:description" content="Author(s): Deng, Ziquan; Kong, Zhaodan | Abstract: Multiple-player games involving cooperative and adversarial agents are a type of problems of great practical significance. In this letter, we consider an attack-defense game with a single attacker and multiple defenders. The attacker attempts to enter a protected region, while the defenders attempt to defend the same region and capture the attacker outside the region. We propose a distributed pursuit-defense strategy for the defenders' cooperative defense against the attacker. Inside a bounded, convex, two-dimensional space, the defenders choose among an area-decreasing, a distance-decreasing, or a pursuing strategy. We prove that our strategy guarantees the attacker to be captured before entering the protected region in a finite time. We also demonstrate with simulations that a human-controlled attacker is unable to enter a protected region when multiple defenders are using our pursuit-defense strategy."/> <meta id="og-image" property="og:image" content="https://escholarship.org/images/escholarship-facebook2.jpg"/> <meta id="og-image-width" property="og:image:width" content="1242"/> <meta id="og-image-height" property="og:image:height" content="1242"/> <meta id="meta-author0" name="citation_author" content="Deng, Ziquan"/> <meta id="meta-author1" name="citation_author" content="Kong, Zhaodan"/> <meta id="meta-publication_date" name="citation_publication_date" content="2020"/> <meta id="meta-doi" name="citation_doi" content="10.1109/lra.2020.3010740"/> <meta id="meta-journal_title" name="citation_journal_title" content="IEEE Robotics and Automation Letters"/> <meta id="meta-issn" name="citation_issn" content="2377-3766"/> <meta id="meta-volume" name="citation_volume" content="5"/> <meta id="meta-issue" name="citation_issue" content="4"/> <meta id="meta-firstpage" name="citation_firstpage" content="5772"/> <meta id="meta-lastpage" name="citation_lastpage" content="5778"/> <meta id="meta-online_date" name="citation_online_date" content="2020-09-16"/> <meta id="meta-pdf_url" name="citation_pdf_url" content="https://escholarship.org/content/qt0jv1b1m8/qt0jv1b1m8.pdf?t=qgqu3m"/> <link rel="canonical" href="https://escholarship.org/uc/item/0jv1b1m8"/> <link rel="stylesheet" href="/css/main-6e346ed4504727cd.css"> <link rel="resource" type="application/l10n" href="/node_modules/pdfjs-embed2/dist/locale/locale.properties"> <noscript><style> .jsonly { display: none } </style></noscript>   <script type="text/plain" data-type="application/javascript" data-name="matomo"> var _paq = window._paq = window._paq || []; 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</li><li class="c-authorlist__end"><a href="/search/?q=author%3AKong%2C%20Zhaodan">Kong, Zhaodan</a> </li></ul></div><div class="c-pubinfo"><h2 class="c-pubinfo__location-heading">Published Web Location</h2><a href="https://doi.org/10.1109/lra.2020.3010740" class="c-pubinfo__link">https://doi.org/10.1109/lra.2020.3010740</a></div><div class="c-tabs"><div class="c-tabs__tabs"><button class="c-tabs__button-more" aria-label="Show all tabs">...</button><button class="c-tabs__button--active">Main Content</button><button class="c-tabs__button">Metrics</button><button class="c-tabs__button">Author & Article Info</button></div><div class="c-tabs__content"><div class="c-tabcontent"><a name="article_abstract"></a><details class="c-togglecontent" open=""><summary>Abstract</summary><div class="c-clientmarkup"><p>Multiple-player games involving cooperative and adversarial agents are a type of problems of great practical significance. In this letter, we consider an attack-defense game with a single attacker and multiple defenders. The attacker attempts to enter a protected region, while the defenders attempt to defend the same region and capture the attacker outside the region. We propose a distributed pursuit-defense strategy for the defenders' cooperative defense against the attacker. Inside a bounded, convex, two-dimensional space, the defenders choose among an area-decreasing, a distance-decreasing, or a pursuing strategy. We prove that our strategy guarantees the attacker to be captured before entering the protected region in a finite time. We also demonstrate with simulations that a human-controlled attacker is unable to enter a protected region when multiple defenders are using our pursuit-defense strategy.</p></div><p class="o-well-colored">Many UC-authored scholarly publications are freely available on this site because of the UC's <a href="https://osc.universityofcalifornia.edu/open-access-at-uc/open-access-policy/">open access policies</a>. <a href="https://help.escholarship.org/support/tickets/new">Let us know how this access is important for you.</a></p></details><details class="c-togglecontent" open=""><a name="article_main"></a><summary>Main Content</summary><div class="c-pdfview"><button class="c-pdfview__button-download">Download PDF to View</button><button class="c-pdfview__button-view">View Larger</button></div><div class="c-pdfview__accessibility">For improved accessibility of PDF content, <a href="/content/qt0jv1b1m8/qt0jv1b1m8.pdf?t=qgqu3m">download the file</a> to your device.</div><div 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