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The article of record as published may be found at https://doi.org/10.1002/nav.21790 This article provides a modeling framework for quantifying cost and optimizing motion plans in combat situations with rapid weapon fire, multiple agents, and attacker uncertainty characterized by uncertain parameters. Recent developments in numerical optimal control enable the efficient computation of numerical solutions for optimization problems with multiple agents, nonlinear dynamics, and a broad class of objectives. This facilitates the application of more realistic, equipment-based com- bat models, which track both more realistic models, which track both agent motion and dynamic equipment capabilities. We present such a framework, along with a described algorithm for finding numerical solutions, and a numerical example. Office of Naval Research N001418WX01204 N001417WX01098 N001415WX01451. |
