高機動侵入者に対する優先度ベースDREAMアプローチによる周辺防衛
Priority-based DREAM Approach for Highly Manoeuvring Intruders in A Perimeter Defense Problem
周辺防衛問題において、優先度付き侵入者を定義し、動的資源配分と分散マルチタスク割り当てを組み合わせたP-DREAM手法を提案し、高機動侵入者への対処性能をモンテカルロ実験で検証した。
著者: Shridhar Velhal, Suresh Sundaram, Narasimhan Sundararajan
分類: eess.SY, cs.MA, cs.RO, cs.SY
原文アブストラクト
In this paper, a Priority-based Dynamic REsource Allocation with decentralized Multi-task assignment (P-DREAM) approach is presented to protect a territory from highly manoeuvring intruders. In the first part, static optimization problems are formulated to compute the following parameters of the perimeter defense problem; the number of reserve stations, their locations, the priority region, the monitoring region, and the minimum number of defenders required for the monitoring purpose. The concept of a prioritized intruder is proposed here to identify and handle those critical intruders (computed based on the velocity ratio and location) to be tackled on a priority basis. The computed priority region helps to assign reserve defenders sufficiently earlier such that they can neutralize the prioritized intruders. The monitoring region defines the minimum region to be monitored and is sufficient enough to handle the intruders. In the second part, the earlier developed DREAM approach is modified to incorporate the priority of an intruder. The proposed P-DREAM approach assigns the defenders to the prioritized intruders as the first task. A convex territory protection problem is simulated to illustrate the P-DREAM approach. It involves the computation of static parameters and solving the prioritized task assignments with dynamic resource allocation. Monte-Carlo results were conducted to verify the performance of P-DREAM, and the results clearly show that the P-DREAM approach can protect the territory with consistent performance against highly manoeuvring intruders.
