Related papers: Hide-and-Seek with Directional Sensing
We consider the problem of walking in an unknown street, for a robot that has a minimal sensing capability. The robot is equipped with a sensor that only detects the discontinuities in depth information (gaps) and can locate the target…
Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor…
Many natural processes rely on optimizing the success ratio of a search process. We use an experimental setup consisting of a simple online game in which players have to find a target hidden on a board, to investigate the how the rounds are…
A random search is a stochastic process representing the random motion of a particle (denoted as the searcher) that is terminated when it reaches (detects) a target particle or area the first time. In intermittent search the random motion…
This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…
Adaptive sampling theory has shown that, with proper assumptions on the signal class, algorithms exist to reconstruct a signal in $\mathbb{R}^{d}$ with an optimal number of samples. We generalize this problem to the case of spatial signals,…
We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is an immobile sensor (e.g., a ground radar station) that can sense the evader's…
In spam and malware detection, attackers exploit randomization to obfuscate malicious data and increase their chances of evading detection at test time; e.g., malware code is typically obfuscated using random strings or byte sequences to…
We consider an autonomous navigation problem, whereby a traveler aims at traversing an environment in which an adversary tries to set an ambush. A two players zero sum game is introduced. Players' strategies are computed as random path…
Many practical search problems concern the search for multiple hidden objects or agents, such as earthquake survivors. In such problems, knowing only the list of possible locations, the Searcher needs to find all the hidden objects by…
A mobile agent equipped with a compass and a measure of length has to find an inert treasure in the Euclidean plane. Both the agent and the treasure are modeled as points. In the beginning, the agent is at a distance at most $D>0$ from the…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
A new surveillance-evasion differential game is posed and solved in which an agile pursuer (the prying pedestrian) seeks to remain within a given surveillance range of a less agile evader that aims to escape. In contrast to previous…
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…
We introduce games with probabilistic uncertainty, a natural model for controller synthesis in which the controller observes the state of the system through imprecise sensors that provide correct information about the current state with a…
Finding hidden/lost targets in a broad region costs strenuous effort and takes a long time. From a practical view, it is convenient to analyze the available data to exclude some parts of the search region. This paper discusses the…
This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to…
We consider a search and rescue game introduced recently by the first author. An immobile target or targets (for example, injured hikers) are hidden on a graph. The terrain is assumed to dangerous, so that when any given vertex of the graph…
During epidemics, the population is asked to Socially Distance, with pairs of individuals keeping two meters apart. We model this as a new optimization problem by considering a team of agents placed on the nodes of a network. Their common…
The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…