Related papers: Pursuit on a Graph Using Partial Information
In this paper, we present a real-time robust multi-view pedestrian detection and tracking system for video surveillance using neural networks which can be used in dynamic environments. The proposed system consists of two phases: multi-view…
Trajectory anomaly detection is essential for identifying unusual and unexpected movement patterns in applications ranging from intelligent transportation systems to urban safety and fraud prevention. Existing methods only consider limited…
The graph-navigability problem concerns how one can find as short paths as possible between a pair of vertices, given an incomplete picture of a graph. We study the navigability of graphs where the vertices are tagged by a number (between 1…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…
Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…
Given a connected graph $G$ with some subset of its vertices excited and a fixed target vertex, in the geodesic-biased random walk on $G$, a random walker moves as follows: from an unexcited vertex, she moves to a uniformly random…
We consider a class of sequential network interdiction problem settings where the interdictor has incomplete initial information about the network while the evader has complete knowledge of the network including its structure and arc costs.…
In recent years, state-of-the-art traffic-control devices have evolved from standalone hardware to networked smart devices. Smart traffic control enables operators to decrease traffic congestion and environmental impact by acquiring…
The pursuit-evasion game is studied for two adversarial active agents, modelled as a deterministic self-steering pursuer and a stochastic, cognitive evader. The pursuer chases the evader by reorienting its propulsion direction with limited…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
Integrated sensing and communication (ISAC) is a key enabler of 6G, supporting environment-aware services. A fundamental sensing task in this setting is reliable multi-target detection and tracking. This paper proposes a temporal graph…
Pedestrian trajectory prediction is important in the research of mobile robot navigation in environments with pedestrians. Most pedestrian trajectory prediction algorithms require the input historical trajectories to be complete. If a…
Active perception is a fundamental problem in autonomous robotics in which the robot must decide where to move and what to sense in order to obtain the most informative observations for accomplishing its mission. Existing approaches either…
This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…
Given a partially observed road network, how can we predict the traffic state of interested unobserved locations? Traffic prediction is crucial for advanced traffic management systems, with deep learning approaches showing exceptional…
We consider discrete dynamical systems of "ant-like" agents engaged in a sequence of pursuits on a graph environment. The agents emerge one by one at equal time intervals from a source vertex $s$ and pursue each other by greedily attempting…
This paper investigates the application of game-theoretic principles combined with advanced Kalman filtering techniques to enhance maritime target tracking systems. Specifically, the paper presents a two-player, imperfect information,…
Cops and robbers is a turn-based pursuit game played on a graph $G$. One robber is pursued by a set of cops. In each round, these agents move between vertices along the edges of the graph. The cop number $c(G)$ denotes the minimum number of…
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…
In this paper, we consider a territory guarding game involving pursuers, evaders and a target in an environment that contains obstacles. The goal of the evaders is to capture the target, while that of the pursuers is to capture the evaders…