TY - GEN
T1 - Pure Pursuit Strategy Enhanced with Defense Margin under Noisy Measurements for Protective Drone Missions
AU - Sung, Minjun
AU - Hiltebrandt-Mcintosh, Christophe J.
AU - Kim, Hunmin
AU - Hovakimyan, Naira
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper investigates the problem of protecting a safe zone against rogue drone intrusion when the defender has noisy observations. The conventional strategies were not sufficient to achieve high mission success rates, prompting the introduction of a concept called defense margin. The proposed strategy improves upon the Pure Pursuit (PP) strategy by incorporating the defense margin strategy, offering better performance compared to using either strategy alone. Simulation results demonstrate the effectiveness of the proposed strategy, resulting in higher mission success rates.
AB - This paper investigates the problem of protecting a safe zone against rogue drone intrusion when the defender has noisy observations. The conventional strategies were not sufficient to achieve high mission success rates, prompting the introduction of a concept called defense margin. The proposed strategy improves upon the Pure Pursuit (PP) strategy by incorporating the defense margin strategy, offering better performance compared to using either strategy alone. Simulation results demonstrate the effectiveness of the proposed strategy, resulting in higher mission success rates.
UR - http://www.scopus.com/inward/record.url?scp=85184797996&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85184797996&partnerID=8YFLogxK
U2 - 10.1109/CDC49753.2023.10383746
DO - 10.1109/CDC49753.2023.10383746
M3 - Conference contribution
AN - SCOPUS:85184797996
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1388
EP - 1393
BT - 2023 62nd IEEE Conference on Decision and Control, CDC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 62nd IEEE Conference on Decision and Control, CDC 2023
Y2 - 13 December 2023 through 15 December 2023
ER -