This analysis demonstrates effective perimeter defense in multi-agent systems, suggesting priority path planning enhances performance in complex environments.
This paper investigates perimeter defense strategies for multi-agent systems. Considering the complex scenario with multiple obstacles in the mission environment, a defense strategy based on prioritized path planning is proposed in this paper. The strategy employs a minimum weight matching method to solve the optimal task assignment for interception and determines the task priority based on the relative time window. Meanwhile, the swarm path planning is realized using particle swarm optimization with a designed cost function. Compared with the existing literature, the proposed method can handle large-scale agent-based perimeter defense while accounting for inter-defender collision avoidance and obstacle avoidance. The effectiveness of the strategy is verified through simulation in the mission scenario.
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Zhang et al. (2025) studied this question.
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