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Cooperative Path Planning in the Presence of Adversarial Behavior

Problems of collaborative multi-vehicle control are posing new
challenges to control. In some problems, cooperation concerns
distributing similar vehicles over an area to optimize, for example,
the rate of area coverage for surveillance missions. In other
problems, heterogeneous vehicles with complementary capabilities are used more advantageously when other forms of cooperation take place.
Here we discuss aspects of our research on using dynamic
optimization for solving collaborative control problems with the
help of a simple two-vehicle optimal path coordination control
problem. This problem is representative of more
general optimal coordination problems. We extend previous work for the case of optimization under adversarial behavior.
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