# Defense Against Adversarial Swarms with Parameter Uncertainty

arXiv: https://arxiv.org/abs/2108.04205 · HTML: https://mlsanity.com/paper/2108.04205/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Aug 2021.

## Built on by (most cited first, 2 of 2)

- [Swarm Characteristic Classification using Robust Neural Networks with Optimized Controllable Inputs](https://mlsanity.com/paper/2502.03619/) (2025)
- [Sensor-Driven Mission Synthesis for UAV/UGV Swarms: A TB-CSPN Coordination Architecture with Hardware-Enforced Safety](https://mlsanity.com/paper/2608.14306/) (2026)

## Abstract (arXiv)

This paper addresses the problem of optimal defense of a High Value Unit against a large-scale swarm attack. We show that the problem can be cast in the framework of uncertain parameter optimal control and derive a consistency result for the dual problem of this framework. We show that the dual can be computed numerically and apply these numerical results to derive optimal defender strategies against a 100 agent swarm attack.