On the construction of barrier in a connectivity maintenance game

In this work, we address the problem of maintaining an operable communication link between two aerial vehicles in the presence of a jammer. This problem was initially proposed in [2]. In this work, we formulate the problem as a game of kind, and present the equations that characterize the barrier in the game using Isaacs´ technique [3]. We derive the optimal control of the vehicles on the barrier, and present simulation results for specific terminal conditions.