On the real-time receding horizon control in harbor defense

Seungho Lee, Geir E. Dullerud, Elijah Polak

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, we develop an receding horizon control (RHC) law for controlling the pursuers in a pursuit-evasion problem arising in a harbor defense scenario and describe its real-time implementation that we apply experimentally to a robotic testbed. Our implementation of the RHC law makes use of a min-max formulation of the underlying optimal problem that must be solved at each sample time, which is solved using the method of outer approximations in conjunction with a phase I-phase II method of feasible directions, in conjunction with a network layer that abstracts each agent. We demonstrate the effectiveness of our implementation using real-time human-computer simulations, and human-robot interaction using a physical testbed comprised of model-sized hovercraft.

Original languageEnglish (US)
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479986842
StatePublished - Jul 28 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: Jul 1 2015Jul 3 2015

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2015 American Control Conference, ACC 2015
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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