Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius

Yogesh Kumar; Aditya A. Paranjape; Supratim Ghosh; P. B. Sujit

doi:10.1109/CDC49753.2023.10383845

Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius

Yogesh Kumar, Aditya A. Paranjape, Supratim Ghosh, P. B. Sujit

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

2 Citations (Scopus)

Abstract

In this paper, we examine a class of counter-swarm problems featuring small teams of antagonists. The objective of the counter-swarm algorithm is to minimize the connectivity of the team using a single adversarial pursuer. We devise a novel criterion for the connectivity of an undirected graph, based on an augmentation of its Laplacian. We prove theoretically how the criterion depends on the size and the connectivity of the graph. Next, we pose optimal control problems which use this criterion as well as the eigenvalues of the Laplacian. We show how the properties of the team dynamics and their interaction with the pursuer define an envelope within which the pursuer achieves the desired objectives.

Original language	English
Title of host publication	2023 62nd IEEE Conference on Decision and Control, CDC 2023
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	2809-2814
Number of pages	6
ISBN (Electronic)	9798350301243
DOIs	https://doi.org/10.1109/CDC49753.2023.10383845
Publication status	Published - 2023
Externally published	Yes
Event	IEEE Conference on Decision and Control 2023 - Singapore, Singapore Duration: 13 Dec 2023 → 15 Dec 2023 Conference number: 62nd https://ieeexplore.ieee.org/xpl/conhome/10383192/proceeding (Proceedings) https://cdc2023.ieeecss.org/ (Website)

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	IEEE Conference on Decision and Control 2023
Abbreviated title	CDC 2023
Country/Territory	Singapore
City	Singapore
Period	13/12/23 → 15/12/23
Internet address	https://ieeexplore.ieee.org/xpl/conhome/10383192/proceeding (Proceedings) https://cdc2023.ieeecss.org/ (Website)

Access to Document

10.1109/CDC49753.2023.10383845

Cite this

Kumar, Y., Paranjape, A. A., Ghosh, S., & Sujit, P. B. (2023). Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius. In 2023 62nd IEEE Conference on Decision and Control, CDC 2023 (pp. 2809-2814). (Proceedings of the IEEE Conference on Decision and Control). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC49753.2023.10383845

Kumar, Yogesh ; Paranjape, Aditya A. ; Ghosh, Supratim et al. / Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius. 2023 62nd IEEE Conference on Decision and Control, CDC 2023. IEEE, Institute of Electrical and Electronics Engineers, 2023. pp. 2809-2814 (Proceedings of the IEEE Conference on Decision and Control).

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title = "Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius",

abstract = "In this paper, we examine a class of counter-swarm problems featuring small teams of antagonists. The objective of the counter-swarm algorithm is to minimize the connectivity of the team using a single adversarial pursuer. We devise a novel criterion for the connectivity of an undirected graph, based on an augmentation of its Laplacian. We prove theoretically how the criterion depends on the size and the connectivity of the graph. Next, we pose optimal control problems which use this criterion as well as the eigenvalues of the Laplacian. We show how the properties of the team dynamics and their interaction with the pursuer define an envelope within which the pursuer achieves the desired objectives.",

author = "Yogesh Kumar and Paranjape, {Aditya A.} and Supratim Ghosh and Sujit, {P. B.}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; IEEE Conference on Decision and Control 2023, CDC 2023 ; Conference date: 13-12-2023 Through 15-12-2023",

year = "2023",

doi = "10.1109/CDC49753.2023.10383845",

language = "English",

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booktitle = "2023 62nd IEEE Conference on Decision and Control, CDC 2023",

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Kumar, Y, Paranjape, AA, Ghosh, S & Sujit, PB 2023, Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius. in 2023 62nd IEEE Conference on Decision and Control, CDC 2023. Proceedings of the IEEE Conference on Decision and Control, IEEE, Institute of Electrical and Electronics Engineers, pp. 2809-2814, IEEE Conference on Decision and Control 2023, Singapore, Singapore, 13/12/23. https://doi.org/10.1109/CDC49753.2023.10383845

Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius. / Kumar, Yogesh; Paranjape, Aditya A.; Ghosh, Supratim et al.
2023 62nd IEEE Conference on Decision and Control, CDC 2023. IEEE, Institute of Electrical and Electronics Engineers, 2023. p. 2809-2814 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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T1 - Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius

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N2 - In this paper, we examine a class of counter-swarm problems featuring small teams of antagonists. The objective of the counter-swarm algorithm is to minimize the connectivity of the team using a single adversarial pursuer. We devise a novel criterion for the connectivity of an undirected graph, based on an augmentation of its Laplacian. We prove theoretically how the criterion depends on the size and the connectivity of the graph. Next, we pose optimal control problems which use this criterion as well as the eigenvalues of the Laplacian. We show how the properties of the team dynamics and their interaction with the pursuer define an envelope within which the pursuer achieves the desired objectives.

AB - In this paper, we examine a class of counter-swarm problems featuring small teams of antagonists. The objective of the counter-swarm algorithm is to minimize the connectivity of the team using a single adversarial pursuer. We devise a novel criterion for the connectivity of an undirected graph, based on an augmentation of its Laplacian. We prove theoretically how the criterion depends on the size and the connectivity of the graph. Next, we pose optimal control problems which use this criterion as well as the eigenvalues of the Laplacian. We show how the properties of the team dynamics and their interaction with the pursuer define an envelope within which the pursuer achieves the desired objectives.

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M3 - Conference Paper

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Kumar Y, Paranjape AA, Ghosh S, Sujit PB. Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius. In 2023 62nd IEEE Conference on Decision and Control, CDC 2023. IEEE, Institute of Electrical and Electronics Engineers. 2023. p. 2809-2814. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC49753.2023.10383845

Adversarial fragmentation of robotic teams operating under Reynolds' rules with bounded communication radius

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