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

Herding an Adversarial Swarm in an Obstacle Environment