# Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical Infrastructure

arXiv: https://arxiv.org/abs/1903.06365 · HTML: https://mlsanity.com/paper/1903.06365/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Mar 2019.

## Built on by (most cited first, 1 of 1)

- [Multi-Robot Pursuit in Parameterized Formation via Imitation Learning](https://mlsanity.com/paper/2410.23586/) (2024)

## Abstract (arXiv)

This paper investigates a problem of defending safety-critical infrastructure from an adversarial aerial attacker in an urban environment. A circular arc formation of defenders is formed around the attacker, and vector-field based guidance laws herd the attacker to a predefined safe area in the presence of rectangular obstacles. The defenders' formation is defined based on a novel vector field that imposes super-elliptic contours around the obstacles, to closely resemble their rectangular shape. A novel finite-time stabilizing controller is proposed to guide the defenders to their desired formation while avoiding obstacles and inter-agent collisions. The efficiency of the approach is demonstrated via simulation results.