使用空中防御者防御地面入侵者的周界：理论与实践
Defending a Perimeter from a Ground Intruder Using an Aerial Defender: Theory and Practice
摘要：
近年来，周边防御游戏作为追捕-逃避游戏的变体受到了关注。许多以前的作品已经解决了这个游戏，以获得最佳的策略，防御者和入侵者，但派生的理论认为球员的点粒子与一阶假设。在这项工作中，我们的目标是应用理论来自周边防御问题的机器人与现实模型的驱动和传感和观察性能差异放松一阶假设。特别是，我们专注于半球周边防御问题，地面入侵者试图达到基地的半球，而限制移动的半球上的空中防御者的目的是捕捉入侵者。详细介绍了从理论到实践的过渡，并在Gazebo中对所设计的系统进行了仿真。提出了两种性能差异评价指标，分别用于参数分析和比较研究。
英文摘要：
The perimeter defense game has received interest in recent years as a variant of the pursuit-evasion game. A number of previous works have solved this game to obtain the optimal strategies for defender and intruder, but the derived theory considers the players as point particles with first-order assumptions. In this work, we aim to apply the theory derived from the perimeter defense problem to robots with realistic models of actuation and sensing and observe performance discrepancy in relaxing the first-order assumptions. In particular, we focus on the hemisphere perimeter defense problem where a ground intruder tries to reach the base of a hemisphere while an aerial defender constrained to move on the hemisphere aims to capture the intruder. The transition from theory to practice is detailed, and the designed system is simulated in Gazebo. Two metrics for parametric analysis and comparative study are proposed to evaluate the performance discrepancy.
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