{"id":"https://openalex.org/W3187454267","doi":"https://doi.org/10.1109/cacre52464.2021.9501329","title":"Control Strategies for Target-Attacker-Defender Games of USVs","display_name":"Control Strategies for Target-Attacker-Defender Games of USVs","publication_year":2021,"publication_date":"2021-07-01","ids":{"openalex":"https://openalex.org/W3187454267","doi":"https://doi.org/10.1109/cacre52464.2021.9501329","mag":"3187454267"},"language":"en","primary_location":{"id":"doi:10.1109/cacre52464.2021.9501329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre52464.2021.9501329","pdf_url":null,"source":{"id":"https://openalex.org/S4306498778","display_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058979013","display_name":"Bin Lin","orcid":"https://orcid.org/0000-0002-8001-5864"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Lin","raw_affiliation_strings":["Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029382136","display_name":"Lei Qiao","orcid":"https://orcid.org/0000-0001-9922-7595"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Qiao","raw_affiliation_strings":["School of Naval Architecture, Ocean and Civil Engineering, State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Naval Architecture, Ocean and Civil Engineering, State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I44675526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064564307","display_name":"Zehua Jia","orcid":"https://orcid.org/0000-0001-9936-5883"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehua Jia","raw_affiliation_strings":["Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101874376","display_name":"Zhijian Sun","orcid":"https://orcid.org/0000-0001-5643-6311"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijian Sun","raw_affiliation_strings":["CROSSOCEAN OF SUZHOU TECHNOLOGY CO., ITD, Shanghai Jiao Tong University, Shanghai, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CROSSOCEAN OF SUZHOU TECHNOLOGY CO., ITD, Shanghai Jiao Tong University, Shanghai, PR China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102796518","display_name":"Min Sun","orcid":"https://orcid.org/0009-0007-6886-3565"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Sun","raw_affiliation_strings":["Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414775","display_name":"Weidong Zhang","orcid":"https://orcid.org/0000-0002-4700-1276"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Zhang","raw_affiliation_strings":["Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing, Shanghai, PR China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1612,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.93908086,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"191","last_page":"198"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13371","display_name":"Military Defense Systems Analysis","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11261","display_name":"Quantum chaos and dynamical systems","score":0.9767000079154968,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6550716161727905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6493365168571472},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5834678411483765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5375869274139404},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5131433606147766},{"id":"https://openalex.org/keywords/sequential-game","display_name":"Sequential game","score":0.506648600101471},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5044175386428833},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.47854194045066833},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4171704053878784},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35987985134124756},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3515414893627167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31041139364242554},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.17474129796028137},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13781097531318665},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.1297159194946289},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.09013080596923828}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6550716161727905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6493365168571472},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5834678411483765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5375869274139404},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5131433606147766},{"id":"https://openalex.org/C73795354","wikidata":"https://www.wikidata.org/wiki/Q287618","display_name":"Sequential game","level":3,"score":0.506648600101471},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5044175386428833},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.47854194045066833},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4171704053878784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35987985134124756},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3515414893627167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31041139364242554},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.17474129796028137},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13781097531318665},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.1297159194946289},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.09013080596923828},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacre52464.2021.9501329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre52464.2021.9501329","pdf_url":null,"source":{"id":"https://openalex.org/S4306498778","display_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G3670536499","display_name":null,"funder_award_id":"61627810","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2004474810","https://openalex.org/W2010154759","https://openalex.org/W2051537666","https://openalex.org/W2052152599","https://openalex.org/W2056277219","https://openalex.org/W2060986931","https://openalex.org/W2075874668","https://openalex.org/W2141569142","https://openalex.org/W2323484983","https://openalex.org/W2525818861","https://openalex.org/W2563378438","https://openalex.org/W2589113321","https://openalex.org/W2782841512","https://openalex.org/W2783963839","https://openalex.org/W2907619374","https://openalex.org/W2973161850","https://openalex.org/W3007968203","https://openalex.org/W3011814489"],"related_works":["https://openalex.org/W2071306797","https://openalex.org/W2405803446","https://openalex.org/W2374666693","https://openalex.org/W2149560990","https://openalex.org/W2911145752","https://openalex.org/W2372443802","https://openalex.org/W1993365706","https://openalex.org/W2363987469","https://openalex.org/W1517532457","https://openalex.org/W1473969641"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"two":[3,121],"strategies":[4,30,66,75,150],"for":[5,35,53,113,125],"the":[6,33,40,51,57,68,90,98,105,109,114,117,120,126,130,135,148,149],"target-attacker-defender":[7],"(TAD)":[8],"game":[9],"of":[10,67,76,108,129,134],"unmanned":[11],"surface":[12],"vessels":[13],"(USVs)":[14],"with":[15],"bounded":[16],"velocity":[17],"and":[18,60,116,143],"angular":[19],"velocity.":[20],"We":[21],"use":[22],"nonlinear":[23],"model":[24],"predictive":[25],"control":[26],"(NMPC)":[27],"to":[28,38,49,55,63,81,100,104,123],"design":[29],"which":[31,96],"minimize":[32],"effort":[34],"each":[36,82],"agent":[37],"win":[39],"game.":[41,70],"A":[42],"novel":[43],"R-C-S":[44],"trajectory":[45],"framework":[46],"is":[47,61,72,87,138],"proposed":[48,136],"evaluate":[50],"time":[52],"USVs":[54],"reach":[56],"prearranged":[58],"coordinates,":[59],"applied":[62],"both":[64,77],"sides'":[65],"TAD":[69],"It":[71],"assumed":[73],"that":[74,147],"sides":[78],"are":[79],"unknown":[80],"other.":[83],"The":[84,111,132],"attacker's":[85],"strategy":[86,112],"based":[88],"on":[89],"dynamic":[91],"artificial":[92],"potential":[93],"field":[94],"method,":[95],"guides":[97,119],"attacker":[99],"evasive":[101],"actions":[102],"according":[103],"threat":[106],"level":[107],"defender.":[110],"defender":[115],"target":[118],"agents":[122],"cooperate":[124],"overall":[127],"interest":[128],"team.":[131],"performance":[133],"algorithms":[137],"tested":[139],"in":[140],"numerical":[141],"simulations,":[142],"it":[144],"turns":[145],"out":[146],"perform":[151],"better":[152],"than":[153],"traditional":[154],"methods.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}