Related papers: Capturing an Evader in Polygonal Environments: A C…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
Most of the existing research on pursuit-evasion game (PEG) is conducted in a two-dimensional (2D) environment. In this paper, we investigate the PEG in a 3D space. We extend the Apollonius circle (AC) to the 3D space and introduce its…
We consider a variation of the Cops and Robber game where the cops can only see the robber when the distance between them is at most a fixed parameter $\ell$. We consider the basic consequences of this definition for some simple graph…
The localization game is a pursuit-evasion game analogous to Cops and Robbers, where the robber is invisible and the cops send distance probes in an attempt to identify the location of the robber. We present a novel graph parameter called…
We consider a variation of a cops and robbers game in which the cop---here referred to as "hunter"---is not constrained by the graph but must play in the dark against a "mole." We characterize the graphs---which we will call…
This paper presents a multiplayer Homicidal Chauffeur reach-avoid differential game, which involves Dubins-car pursuers and simple-motion evaders. The goal of the pursuers is to cooperatively protect a planar convex region from the evaders,…
A fundamental task in mobile robotics is keeping an intelligent agent under surveillance with an autonomous robot as it travels in the environment. This work studies a theoretical version of that problem involving one of the most popular…
In numerous positional games the identity of the winner is easily determined. In this case one of the more interesting questions is not {\em who} wins but rather {\em how fast} can one win. These type of problems were studied earlier for…
In this work, we extend the convex bodies chasing problem (CBC) to an adversarial setting, where an agent (the Player) is tasked with chasing a sequence of convex bodies generated adversarially by another agent (the Opponent). The Player…
Computing worst-case robust strategies in pursuit-evasion games (PEGs) is time-consuming, especially when real-world factors like partial observability are considered. While important for general security purposes, real-time applicable…
This paper aims to put forward the concept that learning to take safe actions in unknown environments, even with probability one guarantees, can be achieved without the need for an unbounded number of exploratory trials, provided that one…
There is an old conjecture by Shermer \cite{sher} that in a polygon with $n$ vertices and $h$ holes, $\lfloor \dfrac{n+h}{3} \rfloor$ vertex guards are sufficient to guard the entire polygon. The conjecture is proved for $h=1$ by Shermer…
An important feature of a dynamic game is its monitoring structure namely, what the players effectively see from the played actions. We consider games with arbitrary monitoring structures. One of the purposes of this paper is to know to…
This work derives two basic engagement zone models, describing regions of potential risk or capture for a mobile vehicle by a pursuer. The pursuer is modeled as having turn-constraints rather than simple motion. Turn-only (C-Paths) and…
We consider a variant of the target defense problem in a planar conical environment where a single defender is tasked to capture a sequence of incoming attackers. The attackers' objective is to breach the target boundary without being…
This article presents a distributed algorithm for a group of robotic agents with omnidirectional vision to deploy into nonconvex polygonal environments with holes. Agents begin deployment from a common point, possess no prior knowledge of…
This paper investigates the difference between the circular and elliptical cases in one-on-one pursuit and evasion problems. Using the simultaneous differential equation derived by Barton and Eliezer, we derive a dynamical system based on…
We consider a variation of cop vs.\ robber on graph in which the robber is not restricted by the graph edges; instead, he picks a time-independent probability distribution on $V(G)$ and moves according to this fixed distribution. The cop…
In this paper we study a linear pursuit differential game described by an infinite system of first-order differential equations in Hilbert space. The control functions of players are subject to geometric constraints. The pursuer attempts to…
A fundamental component of modern trackers is an online learned tracking model, which is typically modeled either globally or locally. The two kinds of models perform differently in terms of effectiveness and robustness under different…