Formation-Attack-Detection-and-Defense:多机器人编队控制。 攻击者攻击编队,并且编队可以检测到攻击者,然后通过拓扑变换防御攻击

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编队攻击检测与防御 多机器人编队控制。 攻击者攻击编队,并且编队可以通过SVM检测到攻击者,然后通过拓扑变换防御攻击。 您可以运行Attacker.m或Defender.m。 我已经对编队进行了一些训练,并将它们存储在.mat中。 该阵型由五个圆圈建模: 有一个攻击者是红色的: 长时间后,编队可以检测到受SVM攻击的机器人: 之后,我们输出路径和S进行验证:

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