TY - GEN
T1 - Path Planning and Control of Autonomous Vehicles in Dynamic Reach-Avoid Scenarios
AU - Shamgah, Laya
AU - Tadewos, Tadewos G.
AU - Karimoddini, Ali
AU - Homaifar, Abdollah
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/26
Y1 - 2018/10/26
N2 - This paper addresses the dynamic adversarial reach-avoid problem in which the attacker aims at visiting a fixed target while avoiding the other vehicle (defender), which is trying to capture the attacker. We address the problem of control and path planning for both the attacker and the defender vehicles, capture the assumptions and requirements of this dynamic complex problem in the form of an LTL formula, and construct a hybrid controller which generates wining strategies for the vehicle under control while respecting its physical constraints.
AB - This paper addresses the dynamic adversarial reach-avoid problem in which the attacker aims at visiting a fixed target while avoiding the other vehicle (defender), which is trying to capture the attacker. We address the problem of control and path planning for both the attacker and the defender vehicles, capture the assumptions and requirements of this dynamic complex problem in the form of an LTL formula, and construct a hybrid controller which generates wining strategies for the vehicle under control while respecting its physical constraints.
UR - https://www.scopus.com/pages/publications/85056847709
U2 - 10.1109/CCTA.2018.8511519
DO - 10.1109/CCTA.2018.8511519
M3 - Conference contribution
T3 - 2018 IEEE Conference on Control Technology and Applications, CCTA 2018
SP - 88
EP - 93
BT - 2018 IEEE Conference on Control Technology and Applications, CCTA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Conference on Control Technology and Applications, CCTA 2018
Y2 - 21 August 2018 through 24 August 2018
ER -