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Communication Dans Un Congrès Année : 2023

Experiments on the control of differential game of target defense

Résumé

This paper evaluates experimentally a novel strategy for solving a variant of the differential game of target defense in the presence of obstacles. The state-of-the-art approaches mostly employ an offline optimization strategy that is only applicable to holonomic systems. This paper presents an online optimization technique, by designing a trade-off parameter that integrates game theory with the model predictive control which allows a nonholonomic defender to intercept an attacker while simultaneously defending a specific target. Several indoor laboratory experiments validate the performance of the proposed approach and compared with a standard model predictive control approach.
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Dates et versions

hal-04153630 , version 1 (06-07-2023)

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Mukhtar Sani, Ahmad Hably, Bogdan Robu, Jonathan Dumon, Nacim Meslem. Experiments on the control of differential game of target defense. ECC 2023 - 21st European Control Conference, Jun 2023, Bucarest, Romania. ⟨10.23919/ECC57647.2023.10178258⟩. ⟨hal-04153630⟩
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