Abstract: In this paper, we present a multi-agent framework for intercepting an incoming fast-moving intruder by slower agents. Given the pose of the intruder and a known target, agents compute the feasible region of intruder trajectories though an interception plane in 3D space. They then deploy themselves into a 3D formation that increases the likelihood of intruder interception in the feasible region. Results are verified in Monte-Carlo simulations for given intruder characteristics, and show that the proposed method reduces the miss distance to less than 0.2 meters for at least one agent in the swarm for more than 99% of simulated intruders that follow a proportional navigation scheme, even when intruders have significant speed advantage over the agents.
My specific contributions:
This paper was a highly collaborative effort between my co-author and I. We both actively participated in all stages of the project. At a high level, the contributions I led were:
- Devised “ZTR” method to aid Theorem 1
- Selected and implemented decentralized control law for agents swarm
- Developed Python simulator to run Monte-Carlo simulations