Related papers: Modeling Environmental Crime in Protected Areas Us…
The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches treat the environment as fixed, without exploring its impact on…
Estimation of the spatial heterogeneity in crime incidence across an entire city is an important step towards reducing crime and increasing our understanding of the physical and social functioning of urban environments. This is a difficult…
The level set estimation problem seeks to find all points in a domain ${\cal X}$ where the value of an unknown function $f:{\cal X}\rightarrow \mathbb{R}$ exceeds a threshold $\alpha$. The estimation is based on noisy function evaluations…
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…
Multi-agent navigation in unknown and cluttered environments has broad applications, yet remains fundamentally challenging. In particular, dense agent-agent and agent-obstacle reactive interactions can exacerbate the inherent competition…
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex…
Illegal wildlife poaching is driving the loss of biodiversity. To combat poaching, rangers patrol expansive protected areas for illegal poaching activity. However, rangers often cannot comprehensively search such large parks. Thus, the…
As the population grows and more land is being used for urbanization, ecosystems are disrupted by our roads and cars. This expansion of infrastructure cuts through wildlife territories, leading to many instances of Wildlife-Vehicle…
Level set method, introduced by Osher and Sethian [1], is a highly robust and accurate computational technique for tracking of moving interfaces in etching, deposition and photolithography processes. It originates from the idea to view the…
Hamilton-Jacobi reachability methods for safety-critical control have been well studied, but the safety guarantees derived rely on the accuracy of the numerical computation. Thus, it is crucial to understand and account for any inaccuracies…
We present a method for optimal path planning of human walking paths in mountainous terrain, using a control theoretic formulation and a Hamilton-Jacobi-Bellman equation. Previous models for human navigation were entirely deterministic,…
We consider the problem of active learning in the context of spatial sampling for level set estimation (LSE), where the goal is to localize all regions where a function of interest lies above/below a given threshold as quickly as possible.…
Accurate estimation of the change in crime over time is a critical first step towards better understanding of public safety in large urban environments. Bayesian hierarchical modeling is a natural way to study spatial variation in urban…
Plastic pollution is a critical environmental issue, and detecting and monitoring plastic litter is crucial to mitigate its impact. This paper presents the methodology of mapping street-level litter, focusing primarily on plastic waste and…
One of the principal uses of physical-space sensors in public safety applications is the detection of unsafe conditions (e.g., release of poisonous gases, weapons in airports, tainted food). However, current detection methods in these…
Presented is a new method for calculating the time-optimal guidance control for a multiple vehicle pursuit-evasion system. A joint differential game of k pursuing vehicles relative to the evader is constructed, and a Hamilton-Jacobi-Isaacs…
Illegal vehicle parking is a common urban problem faced by major cities in the world, as it incurs traffic jams, which lead to air pollution and traffic accidents. The government highly relies on active human efforts to detect illegal…
Recent literature has proposed approaches that learn control policies with high performance while maintaining safety guarantees. Synthesizing Hamilton-Jacobi (HJ) reachable sets has become an effective tool for verifying safety and…
The level set method is a widely used tool for solving reachability and invariance problems. However, some shortcomings, such as the difficulties of handling dissipation function and constructing terminal conditions for solving the…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…