Show simple item record

dc.contributor.authorGong, Qi
dc.contributor.authorKang, Wei
dc.contributor.authorWalton, Claire
dc.contributor.authorKaminer, Isaac
dc.contributor.authorPark, Hyeongjun
dc.date.accessioned2020-03-12T18:58:04Z
dc.date.available2020-03-12T18:58:04Z
dc.date.issued2020-02
dc.identifier.citationGong, Qi, et al. "Partial Observability Analysis of an Adversarial Swarm Model." Journal of Guidance, Control, and Dynamics 43.2 (2020): 250-261.en_US
dc.identifier.urihttps://hdl.handle.net/10945/64427
dc.descriptionThe article of record as published may be found at https://doi.org/10.2514/1.G004115en_US
dc.description.abstractThis paper introduces a new concept of partial observability for nonlinear systems. This new approach enables a quantitative analysis on the observability of an individual state variable and unknown parameters of a nonlinear dynamics even when the system is not observable in the traditional sense. The paper develops theoretical properties of partial observability and its computational algorithms. These results are applied and validated on a nonstandard estimation problem of detecting the internal cooperating strategy of a particular adversarial swarm model. Partial observability analysis on the parameters that define the cooperating strategy reveals interesting findings. For example, some parameters are observable even when the swarm is at a steady state that is not observable in traditional sense. It is also shown that observability of the internal cooperating strategy depends on both the swarm trajectory and the time window of the measurement. Motivated by these findings, a variational method of estimation based on the dynamic optimization of a cost function is proposed. Simulation results show that the proposed estimation method outperforms Kalman filters. The results in this paper provide useful tools for applications involving adversarial swarms, including defense against swarm attacks and herding of biological swarms.en_US
dc.description.sponsorshipOffice of Naval Research
dc.format.extent12 p.en_US
dc.publisherAmerican Institute of Aeronautics and Astronautics, Inc.en_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titlePartial Observability Analysis of an Adversarial Swarm Modelen_US
dc.typeArticleen_US
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)en_US
dc.contributor.departmentApplied Mathematics (MA)
dc.description.funderN0001418WX01204en_US
dc.description.funderN0001419WX00155


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record