Related papers: Hide-and-Seek with Directional Sensing

We propose an approach based on probabilistic models, in particular POMDPs, to plan optimized search processes of known objects by intelligent eye in hand robotic arms. Searching and reaching for a known object (a pen, a book, or a hammer)…

Motion camouflage is a stealth strategy observed in nature. We formulate the problem as a feedback system for particles moving at constant speed, and define what it means for the system to be in a state of motion camouflage. (Here we focus…

We investigate different versions of the minority game, a toy model for agents buying and selling a commodity. The Hamming distance between the strategies used by agents to take decisions is introduced as an analytical tool to determine…

Efficient search acts as a strong selective force in biological systems ranging from cellular populations to predator-prey systems. The search processes commonly involve finding a stationary or mobile target within a heterogeneously…

In mobile robotics and autonomous driving, it is natural to model agent interactions as the Nash equilibrium of a noncooperative, dynamic game. These methods inherently rely on observations from sensors such as lidars and cameras to…

Hit-and-Run is known to be one of the best random sampling algorithms, its mixing time is polynomial in dimension. Nevertheless, in practice the number of steps required to achieve uniformly distributed samples is rather high. We propose…

The problem of searching for a model-based scene interpretation is analyzed within a probabilistic framework. Object models are formulated as generative models for range data of the scene. A new statistical criterion, the truncated object…

Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…

Navigating an environment with uncertain connectivity requires a strategic balance between minimizing the cost of traversal and seeking information to resolve map ambiguities. Unlike previous approaches that rely on local sensing, we…

We formulate a stochastic zero-sum game over continuous-time dynamics to analyze the competition between the attacker, who tries to covertly misguide the vehicle to an unsafe region, versus the detector, who tries to detect the attack…

A fundamental task in mobile robotics is to keep an agent under surveillance using an autonomous robotic platform equipped with a sensing device. Using differential game theory, we study a particular setup of the previous problem. A…

We study a pursuit-evasion differential game with finite number of pursuers and one evader in Hilbert space with geometric constraints on the control functions of players. We solve the game by presenting explicit strategies for pursuers…

In an adversarial environment, a hostile player performing a task may behave like a non-hostile one in order not to reveal its identity to an opponent. To model such a scenario, we define identity concealment games: zero-sum stochastic…

Anomaly detection is a method for discovering unusual and suspicious behavior. In many real-world scenarios, the examined events can be directly linked to the actions of an adversary, such as attacks on computer networks or frauds in…

Real-time heuristic search algorithms are suitable for situated agents that need to make their decisions in constant time. Since the original work by Korf nearly two decades ago, numerous extensions have been suggested. One of the most…

Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…

We consider the problem of detecting an odd process among a group of Poisson point processes, all having the same rate except the odd process. The actual rates of the odd and non-odd processes are unknown to the decision maker. We consider…

Solutions to pursuit-evasion and surveillance-evasion differential games are typically computed and expressed using open-loop representations, with the synthesis of feedback strategies significantly less common. We propose a numerical…

Real-time heuristic search is a popular model of acting and learning in intelligent autonomous agents. Learning real-time search agents improve their performance over time by acquiring and refining a value function guiding the application…

We consider linear search for capturing an oblivious moving target by two autonomous robots with different communicating abilities. Both robots can communicate Face-to-Face (F2F) when co-located but in addition one robot is a Sender (can…