Related papers: A Planar Tracking Game with Sensing Delays and its…
Complex dynamical systems rely on the correct deployment and operation of numerous components, with state-of-the-art methods relying on learning-enabled components in various stages of modeling, sensing, and control at both offline and…
We study the tracking problem, namely, estimating the hidden state of an object over time, from unreliable and noisy measurements. The standard framework for the tracking problem is the generative framework, which is the basis of solutions…
We consider a class of pursuit-evasion problems where an evader enters a directed acyclic graph and attempts to reach one of the terminal nodes. A pursuer enters the graph at a later time and attempts to capture the evader before it reaches…
This paper studies a class of approach-evasion differential games, in which one player aims to steer the state of a dynamic system to the given target set in minimum time, while avoiding some set of disallowed states, and the other player…
Planar object tracking is an actively studied problem in vision-based robotic applications. While several benchmarks have been constructed for evaluating state-of-the-art algorithms, there is a lack of video sequences captured in the wild…
A robust fixed-lag smoothing approach is proposed in the case there is a mismatch between the nominal model and the actual model. The resulting robust smoother is characterized by a dynamic game between two players: one player selects the…
This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…
The stochastic nature of time delays and sampling intervals in Networked Control Systems poses significant challenges for controller synthesis and analysis, often leading to conservative designs and degraded performance. This work presents…
We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the…
This short paper presents an efficient path following solution for ground vehicles tailored to game AI. Our focus is on adapting established techniques to design simple solutions with parameters that are easily tunable for an efficient…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
This note briefly introduces the computed torque control method for trajectory tracking. The method is applicable to fully actuated robots, i.e, those whose inverse dynamics can be solved for any feasible acceleration. This includes many…
We present a novel formulation of the multiple object tracking problem which integrates low and mid-level features. In particular, we formulate the tracking problem as a quadratic program coupling detections and dense point trajectories.…
Autonomous racing is a research field gaining large popularity, as it pushes autonomous driving algorithms to their limits and serves as a catalyst for general autonomous driving. For scaled autonomous racing platforms, the computational…
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…
Surveillance-Evasion (SE) games form an important class of adversarial trajectory-planning problems. We consider time-dependent SE games, in which an Evader is trying to reach its target while minimizing the cumulative exposure to a moving…
We consider a pursuit-evasion game [11] played between two agents, 'Blue' (the pursuer) and 'Red' (the evader), over $T$ time steps. Red aims to attack Blue's territory. Blue's objective is to intercept Red by time $T$ and thereby limit the…
A fundamental problem in collaborative sensing lies in providing an accurate prediction of critical events (e.g., hazardous environmental condition, urban abnormalities, economic trends). However, due to the resource constraints,…
We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some…
A head tracker is a crucial part of the head mounted display systems, as it tracks the head of the pilot in the plane/cockpit simulator. The operational flaws of head trackers are also dependent on different environmental conditions like…