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Classical Formation Patterns and Flanking Strategies as a Result of Utility Maximization
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0002-7714-928X
2019 (English)In: IEEE Control Systems Letters, ISSN 2475-1456, Vol. 3, no 2, p. 422-427Article in journal (Refereed) Published
Abstract [en]

In this paper, we show how classical tactical forma- tion patterns and flanking strategies, such as the line formation and the enveloping maneuver, can be seen as the result of maximizing a natural formation utility.

The problem of automatic formation keeping is extremely well studied within the areas of control and robotics, but the reasons for choosing a particular formation shape and position is much less so.

By analyzing a situation with two adversarial teams of agents facing each other, we show that natural assumptions regarding the target selection of the agents and decreasing weapon efficiency over distance, can be used to optimize a measure of utility over agent positions. This optimization in turn results in formations and positions that are very similar to the ones being used in practice. We present both analytical results for simple examples as well as numerical results for more complex situations.

Place, publisher, year, edition, pages
IEEE, 2019. Vol. 3, no 2, p. 422-427
Keywords [en]
Cooperative control, Game theory, Optimization, Formations
National Category
Robotics Control Engineering
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-241530DOI: 10.1109/LCSYS.2019.2892298Scopus ID: 2-s2.0-85059808316OAI: oai:DiVA.org:kth-241530DiVA, id: diva2:1281777
Funder
VINNOVA, 2017-04875
Note

QC 20190125

Available from: 2019-01-23 Created: 2019-01-23 Last updated: 2019-03-18Bibliographically approved

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