Cooperative control for multi-target interception with sensing and communication limitations: A game-theoretic approach

In this paper, the problem of multi-vehicle cooperative interception of moving objects with unknown arrival times, trajectories and dynamics is investigated. The vehicles are assumed to have limited sensing and communication ranges. Therefore, centralized approaches are not feasible, specially when there are a large number of vehicles and targets. A game theoretic cooperative receding horizon controller is proposed here to address this problem. The control design is based on the prediction of the future positions of targets with limited information, as well as a reward allocation policy for accomplishing the target interception tasks. To learn the optimal strategy in the resulting potential game, a state-of-the-art method, the generalized regret monitoring, is applied and its effectiveness is demonstrated by simulation.