A Counter-swarm Splitting Strategy using Receding Horizon Control Algorithm

This paper proposes a model predictive control framework for the task of countering the swarm of autonomous systems. Based on the Boids model, the neighbor selection mechanism and interaction model are further employed to characterize the formation of the target swarm. It is assumed that individuals in the target swarm are equipped with a collision avoidance mechanism. From the perspective of the position and velocity of individuals in the target swarm, Lanchester's index and polarization index are employed to characterize the performance of the counter-swarm strategy, respectively. The strategy of splitting the target swarm via attacking its geometric centroid is proposed and the model predictive control framework for the counter-swarm task is designed. A simulation is finally provided to illustrate the effectiveness of the proposed strategy.