Phantom Track Generation in 3D through Cooperative Control of Multiple ECAVs Based on Geometry

Radar deception through phantom track generation using multiple Electronic Combat Air Vehicles (ECAVs) is addressed which serves as a motivating example for cooperative control of autonomous multi-agent systems. The ECAV trajectories are represented by parameterized differentiable space curves in R3 and necessary and sufficient conditions are derived to satisfy their state, speed and curvature constraints. Based on this geometric analysis, an algorithm capable of generating trajectories online and in real-time is developed. Results on local asymptotic straightening of trajectories and controls ensuring the existence of feasible trajectories satisfying all system and actuator constraints are presented. The basic algorithm based on the results developed in here is given along with simulation results, validating the proposed approach.