Related papers: A Planar Tracking Game with Sensing Delays and its…
Traditional game-theoretic research for security applications primarily focuses on the allocation of external protection resources to defend targets. This work puts forward the study of a new class of games centered around strategically…
Developing and maintaining CLP programs requires visualization and explanation tools. However, existing tools are built in an ad hoc way. Therefore porting tools from one platform to another is very difficult. We have shown in previous work…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
Tracking sports players is a widely challenging scenario, specially in single-feed videos recorded in tight courts, where cluttering and occlusions cannot be avoided. This paper presents an analysis of several geometric and semantic visual…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
This paper presents a dynamic state observer design for discrete-time linear time-varying systems that robustly achieves equalized recovery despite delayed or missing observations, where the set of all temporal patterns for the missing or…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
We compare games under delayed control and delay games, two types of infinite games modelling asynchronicity in reactive synthesis. Our main result, the interreducibility of the existence of sure winning strategies for the protagonist,…
An important feature of a dynamic game is its monitoring structure namely, what the players effectively see from the played actions. We consider games with arbitrary monitoring structures. One of the purposes of this paper is to know to…
Maintaining the security of control systems in the presence of integrity attacks is a significant challenge. In literature, several possible attacks against control systems have been formulated including replay, false data injection, and…
Game-theoretic motion planners are a powerful tool for the control of interactive multi-agent robot systems. Indeed, contrary to predict-then-plan paradigms, game-theoretic planners do not ignore the interactive nature of the problem, and…
We present a novel algorithm for game-theoretic trajectory planning, tailored for settings in which agents can only observe one another in specific regions of the state space. Such problems arise naturally in the context of multi-robot…
A fundamental task in mobile robotics is keeping an intelligent agent under surveillance with an autonomous robot as it travels in the environment. This work studies a theoretical version of that problem involving one of the most popular…
Programs with constraints are hard to debug. In this paper, we describe a general architecture to help develop new debugging tools for constraint programming. The possible tools are fed by a single general-purpose tracer. A tracer-driver is…
In timeline-based planning, domains are described as sets of independent, but interacting, components, whose behaviour over time (the set of timelines) is governed by a set of temporal constraints. A distinguishing feature of timeline-based…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
We consider surveillance-evasion differential games, where a pursuer must try to constantly maintain visibility of a moving evader. The pursuer loses as soon as the evader becomes occluded. Optimal controls for game can be formulated as a…
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
This paper is concerned with the reconnaissance game that involves two mobile agents: the Intruder and the Defender. The Intruder is tasked to reconnoiter a territory of interest (target region) and then return to a safe zone (retreat…
The Traveling Tournament Problem (TTP) is a benchmark problem in sports scheduling and has been extensively studied in recent years. The Mirrored Traveling Tournament Problem (mTTP) is variation of the TTP that represents certain types of…