# Herding an Adversarial Swarm in an Obstacle Environment

## TL;DR

This paper proposes a control strategy using a StringNet formation to defend against adversarial swarms navigating through obstacle-filled environments, ensuring their containment and safe guidance.

## Contribution

It introduces a novel formation control method and formal stability analysis for defending against adversarial swarms in complex environments.

## Key findings

- Effective containment of adversarial swarm demonstrated in simulations
- Control laws successfully guide swarm to safe area despite obstacles
- Formal stability analysis confirms robustness of the approach

## Abstract

This paper studies a defense approach against a swarm of adversarial agents. We employ a closed formation (`StringNet') of defending agents around the adversarial agents to restrict their motion and guide them to a safe area while navigating in an obstacle-populated environment. Control laws for forming the StringNet and guiding it to a safe area are developed, and the stability of the closed-loop system is analyzed formally. The adversarial swarm is assumed to move as a flock in the presence of rectangular obstacles. Simulation results are provided to demonstrate the efficacy of the approach.