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Imagine a tracking agent $P$ who wants to follow a moving target $Q$ in $d$-dimensional Euclidean space. The tracker has access to a noisy location sensor that reports an estimate $\tilde{Q}(t)$ of the target's true location $Q(t)$ at time…
In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles. We formulate the game as an optimal control problem with state inequality constraint in a simple…
Individuals traversing challenging obstacles are faced with a decision: they can adopt traversal strategies that minimally disrupt their normal locomotion patterns or they can adopt strategies that substantially alter their gait, conferring…
Automated tracking of animal movement allows analyses that would not otherwise be possible by providing great quantities of data. The additional capability of tracking in realtime - with minimal latency - opens up the experimental…
In this paper, we present a model describing the collective motion of birds. The model introduces spontaneous changes in direction which are initialized by few agents, here referred as leaders, whose influence act on their nearest…
We study facility location problems where agents control multiple locations and when reporting their locations can choose to hide some locations (hiding), report some locations more than once (replication) and lie about their locations…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…
Motivated by real-world applications of unmanned aerial vehicles, this paper introduces a decentralized control mechanism to guide steering control of autonomous agents maneuvering in the vicinity of multiple moving entities (e.g. other…
Autonomous exploration and multi-object tracking by a team of agents have traditionally been considered as two separate, yet related, problems which are usually solved in two phases: an exploration phase then a tracking phase. The…
This work considers the problem of intercepting rogue drones targeting sensitive critical infrastructure facilities. While current interception technologies focus mainly on the jamming/spoofing tasks, the challenges of effectively locating…
Given a multi-agent linear system, we formalize and solve a trajectory optimization problem that encapsulates trajectory tracking, distance-based formation control and input energy minimization. To this end, a numerical projection operator…
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion…
This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the interceptor and the target drone are…
In this paper, a combat Unmanned Air Vehicle (UAV) is modeled in the simulation environment. The rotary wing UAV is successfully performed various tasks such as locking on the targets, tracking, and sharing the relevant data with…
Collective motion provides a spectacular example of self-organization in Nature. Visual information plays a crucial role among various types of information in determining interactions. Recently, experiments have revealed that organisms such…
Gathering is a fundamental task for multi-agent systems and the problem has been studied under various assumptions on the sensing capabilities of mobile agents. This paper addresses the problem for a group of agents that are identical and…
Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…
We consider a variant of pursuit-evasion games where a single defender is tasked to defend a static target from a sequence of periodically arriving intruders. The intruders' objective is to breach the boundary of a circular target without…
Suppose one wants to monitor a domain with sensors, each sensing a small ball-shaped region, but the domain is hazardous enough that one cannot control the placement of the sensors. A prohibitively large number of randomly placed sensors…
People frequently face challenging decision-making problems in which outcomes are uncertain or unknown. Artificial intelligence (AI) algorithms exist that can outperform humans at learning such tasks. Thus, there is an opportunity for AI…