# Cooperative Target Defense under Communication and Sensing Constraints

arXiv: https://arxiv.org/abs/2412.09939 · HTML: https://mlsanity.com/paper/2412.09939/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Dec 2024.

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

- [Game-Theory-Assisted Reinforcement Learning for Border Defense: Early Termination based on Analytical Solutions](https://mlsanity.com/paper/2603.15907/) (2026)

## Abstract (arXiv)

We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some of the defenders are sensing-limited and do not have any information regarding the intruder's position or velocity at any time. The defenders may communicate with each other using a connected communication graph. We propose a decentralized feedback strategy for the defenders, which transforms the simultaneous capture problem into a unique nonlinear consensus problem. We derive a sufficient condition for simultaneous capture in terms of the agents' speeds, sensing, and communication capabilities. The proposed decentralized controller is evaluated through extensive numerical simulations.