Related papers: On the Optimal Policies for Visibility-Based Targe…

We provide a necessary and sufficient condition under which a convex set is approachable in a game with partial monitoring, i.e.\ where players do not observe their opponents' moves but receive random signals. This condition is an extension…

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…

Operating vehicles in adversarial environments between a recurring origin-destination pair requires new planning techniques. A two players zero-sum game is introduced. The goal of the first player is to minimize the expected casualties…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

This paper studies a planar multiplayer Homicidal Chauffeur reach-avoid differential game, where each pursuer is a Dubins car and each evader has simple motion. The pursuers aim to protect a goal region cooperatively from the evaders. Due…

We revisit the two-player planar target-defense game initially posed by Isaacs where a pursuer (or defender) attempts to guard a target set from an attack by an evader (or attacker). This paper builds on existing analytical solutions to…

Recent works in multiple object tracking use sequence model to calculate the similarity score between the detections and the previous tracklets. However, the forced exposure to ground-truth in the training stage leads to the…

We consider a variant of pursuit-evasion games where a single defender is tasked to defend a static target from a sequence of periodically arriving intruders. The intruders' objective is to breach the boundary of a circular target without…

We describe here a new concept of one group chasing another, called "group chase and escape", by presenting a simple model. We will show that even a simple model can demonstrate rather rich and complex behavior. In particular, there are…

An operational relevant conflict between teams of autonomous vehicles in the Beyond Visual Range domain is addressed in this paper. Optimal strategies are designed in order for a team of air interceptors to protect a high value asset and…

We consider a problem of cooperative evasion between a single pursuer and multiple evaders in which the evaders are constrained to move in the positive Y direction. The evaders are slower than the vehicle and can choose their speeds from a…

We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…

In an optimal visiting problem, we want to control a trajectory that has to pass as close as possible to a collection of target points or regions. We introduce a hybrid control-based approach for the classic problem where the trajectory can…

A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…

Tracking the ball is critical for video-based analysis of team sports. However, it is difficult, especially in low-resolution images, due to the small size of the ball, its speed that creates motion blur, and its often being occluded by…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…

In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…

This paper presents a new algorithm to track mobile objects in different scene conditions. The main idea of the proposed tracker includes estimation, multi-features similarity measures and trajectory filtering. A feature set (distance,…

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…

In a noncooperative dynamic game, multiple agents operating in a changing environment aim to optimize their utilities over an infinite time horizon. Time-varying environments allow to model more realistic scenarios (e.g., mobile devices…