Related papers: Towards a Framework for Tracking Multiple Targets:…
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint…
This article addresses the problem of multi-object tracking by using a non-deterministic model of target behaviors with hard constraints. To capture the evolution of target features as well as their locations, we permit objects to lie in a…
Effective security patrol management is critical for ensuring safety in diverse environments such as art galleries, airports, and factories. The behavior of patrols in these situations can be modeled by patrolling games. They simulate the…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
Multi-goal reaching is an important problem in reinforcement learning needed to achieve algorithmic generalization. Despite recent advances in this field, current algorithms suffer from three major challenges: high sample complexity,…
Pedestrian tracking has long been considered an important problem, especially in security applications. Previously,many approaches have been proposed with various types of sensors. One popular method is Pedestrian Dead Reckoning(PDR) [1]…
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond…
Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires…
Although a number of solutions exist for the problems of coverage, search and target localization---commonly addressed separately---whether there exists a unified strategy that addresses these objectives in a coherent manner without being…
Given a closed simple polygon $P$, we say two points $p,q$ see each other if the segment $pq$ is fully contained in $P$. The art gallery problem seeks a minimum size set $G\subset P$ of guards that sees $P$ completely. The only currently…
Maximising the detection of intrusions is a fundamental and often critical aim of perimeter surveillance. Commonly, this requires a decision-maker to optimally allocate multiple searchers to segments of the perimeter. We consider a scenario…
We address recently proposed chromatic versions of the classic Art Gallery Problem. Assume a simple polygon $P$ is guarded by a finite set of point guards and each guard is assigned one of $t$ colors. Such a chromatic guarding is said to be…
Graph modeling allows numerous security problems to be tackled in a general way, however, little work has been done to understand their ability to withstand adversarial attacks. We design and evaluate two novel graph attacks against a…
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…
This article considers the design and analysis of multiple moving target defenses for recognizing and isolating attacks on cyber-physical systems. We consider attackers who perform integrity attacks on a set of sensors and actuators in a…
Given a simple polygon $\cal P$, in the Art Gallery problem, the goal is to find the minimum number of guards needed to cover the entire $\cal P$, where a guard is a point and can see another point $q$ when $\overline{pq}$ does not cross…
Hybrid systems are complex dynamical systems that combine discrete and continuous components. Reachability questions, regarding whether a system can run into a certain subset of its state space, stand at the core of verification and…
Suppose an unpredictable evader is free to move around in a polygonal environment of arbitrary complexity that is under full camera surveillance. How many pursuers, each with the same maximum speed as the evader, are necessary and…