TY - GEN
T1 - Defending a Perimeter from a Ground Intruder Using an Aerial Defender
T2 - 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2021
AU - Lee, Elijah S.
AU - Shishika, Daigo
AU - Loianno, Giuseppe
AU - Kumar, Vijay
N1 - Funding Information:
We gratefully acknowledge the support from ARL Grant DCIST CRA W911NF-17-2-0181, NSF Grant CNS-1521617, ARO Grant W911NF-13-1-0350, ONR Grants N00014-20-1-2822 and ONR grant N00014-20-S-B001, and Qualcomm Research.
Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - 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.
AB - 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.
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U2 - 10.1109/SSRR53300.2021.9597859
DO - 10.1109/SSRR53300.2021.9597859
M3 - Conference contribution
AN - SCOPUS:85123632238
T3 - 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2021
SP - 184
EP - 189
BT - 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 25 October 2021 through 27 October 2021
ER -