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 proceedingConference PaperOther


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 languageEnglish
Title of host publication2023 62nd IEEE Conference on Decision and Control, CDC 2023
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9798350301243
Publication statusPublished - 2023
Externally publishedYes
EventIEEE Conference on Decision and Control 2023 - Singapore, Singapore
Duration: 13 Dec 202315 Dec 2023
Conference number: 62nd (Proceedings) (Website)

Publication series

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


ConferenceIEEE Conference on Decision and Control 2023
Abbreviated titleCDC 2023
Internet address

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