Related papers: Pursuit on a Graph Using Partial Information
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
The task of following-the-leader is implemented using a hierarchical Deep Neural Network (DNN) end-to-end driving model to match the direction and speed of a target pedestrian. The model uses a classifier DNN to determine if the pedestrian…
The game of Cops and Robber is a pursuit-evasion game which is usually played on a connected graph. In the game, a set of cops and a robber move around the vertices of a graph along edges, where the cops aim to capture the robber, while the…
Planning for Autonomous Unmanned Ground Vehicles (AUGV) is still a challenge, especially in difficult, off-road, critical situations. Automatic planning can be used to reach mission objectives, to perform navigation or maneuvers. Most of…
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…
This paper proposes a new perspective on the conventional planar target tracking problem. One evader and one pursuer are considered in the dynamics. In the planar tracking, pursuer has the ability to measure the position and the velocity…
Consider a given planar circular region, in which there is an unknown number of smart mobile evaders. We wish to detect evaders using a line formation of sweeping agents whose total sensing length is predetermined. We propose procedures for…
We study versions of cop and robber pursuit-evasion games on the visibility graphs of polygons, and inside polygons with straight and curved sides. Each player has full information about the other player's location, players take turns, and…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the…
We consider a model of two competing microswimming agents engaged in a pursue-evasion task within a low-Reynolds-number environment. Agents can only perform simple maneuvers and sense hydrodynamic disturbances, which provide ambiguous…
We investigate a graph probing problem in which an agent has only an incomplete view $G' \subsetneq G$ of the network and wishes to explore the network with least effort. In each step, the agent selects a node $u$ in $G'$ to probe. After…
This work examines the problem of graph learning over a diffusion network when data can be collected from a limited portion of the network (partial observability). The main question is to establish technical guarantees of consistent…
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing…
We propose efficient distributed algorithms to aid navigation of a user through a geographic area covered by sensors. The sensors sense the level of danger at their locations and we use this information to find a safe path for the user…
The Unreactive Markovian Evader Interdiction Problem (UME) asks to optimally place sensors on a network to detect Markovian motion by one or more "evaders". It was previously proved that finding the optimal sensor placement is NP-hard if…
In object tracking, outlier is one of primary factors which degrade performance of image-based tracking algorithms. In this respect, therefore, most of the existing methods simply discard detected outliers and pay little or no attention to…
Assume that a graph $G$ models a detection system for a facility with a possible ``intruder," or a multiprocessor network with a possible malfunctioning processor. We consider the problem of placing detectors at a subset of vertices in $G$…
Motivated by security needs in unmanned aerial system (UAS) operations, an algorithm for identifying airspace intruders (e.g., birds vs. drones) is developed. The algorithm is structured to use sensed intruder velocity data from…
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…