Control of antagonistic swarm dynamics via Lyapunov's method

We consider hostile conflicts between two multi-agent swarms. First, we investigate the complex nature of a single pursuer attempting to intercept a single evader (1P-1E), and establish some rudimentary rules of engagement. We elaborate on the stability repercussions of these rules. Second, we extend the modelling and stability analysis to multi-agent swarms with conflicting interests. Thepresentdocumentconsidersonlyswarmswith equalmembership strengths for simplicity. This effort is based on a set of suggested momenta deployed on individual agents. Because pursuers and evaders differ in the influencesthattheyexertononeanother,weemphasizeasymmetryinmomenta between the two types of swarm members. The proposed centralized control law evolves from a Lyapunovconcept. Swarm interactions are modelledin two phases: the approach phase during which the two swarms act like individuals in the 1P-1E interaction; and the individual pursuit phase where each pursuer is assigned to an evader.

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