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Computing mountain passes is a standard way of finding critical points. We describe a numerical method for finding critical points that is convergent in the nonsmooth case and locally superlinearly convergent in the smooth finite…
We model the hierarchical evolution of an organized criminal network via antagonistic recruitment and pursuit processes. Within the recruitment phase, a criminal kingpin enlists new members into the network, who in turn seek out other…
We present a simple and easy to implement method for the numerical solution of a rather general class of Hamilton-Jacobi-Bellman (HJB) equations. In many cases, the considered problems have only a viscosity solution, to which, fortunately,…
The random nature of traffic conditions on freeways can cause excessive congestions and irregularities in the traffic flow. Ramp metering is a proven effective method to maintain freeway efficiency under various traffic conditions. Creating…
An interesting statistical problem is to find regions where some studied process exceeds a certain level. Estimating such regions so that the probability for exceeding the level in the entire set is equal to some predefined value is a…
We consider the problem of time-optimal path planning for simple nonholonomic vehicles. In previous similar work, the vehicle has been simplified to a point mass and the obstacles have been stationary. Our formulation accounts for a…
Active walker models have recently proved their great value for describing the formation of clusters, periodic patterns, and spiral waves as well as the development of rivers, dielectric breakdown patterns, and many other structures. It is…
In the context of autonomous robots, one of the most important tasks is to prevent potential damage to the robot during navigation. For this purpose, it is often assumed that one must deal with known probabilistic obstacles, then compute…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…
Safe control techniques, such as Hamilton-Jacobi reachability, provide principled methods for synthesizing safety-preserving robot policies but typically assume hand-designed state spaces and full observability. Recent work has relaxed…
The ability for an autonomous agent or robot to track and identify potentially multiple objects in a dynamic environment is essential for many applications, such as automated surveillance, traffic monitoring, human-robot interaction, etc.…
This letter proposes a novel continuous-time dynamic programming framework to determine when it is optimal for a pursuer to use MC amidst uncertainty in the evader's escape attempt time. We motivate this framework through the model problem…
Tropical forests represent the home of many species on the planet for flora and fauna, retaining billions of tons of carbon footprint, promoting clouds and rain formation, implying a crucial role in the global ecosystem, besides…
Anomaly detection to recognize unusual events in large scale systems in a time sensitive manner is critical in many industries, eg. bank fraud, enterprise systems, medical alerts, etc. Large-scale systems often grow in size and complexity…
Ecologists increasingly rely on Bayesian methods to fit capture-recapture models. Capture-recapture models are used to estimate abundance while accounting for imperfect detectability in individual-level data. A variety of implementations…
This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However,…
A multi-state version of an animal movement analysis method based on conditional logistic regression, called Step Selection Function (SSF), is proposed. In ecology SSF is developed from a comparison between the observed location of an…
In this paper, we investigate the problem of joint searching and tracking of multiple mobile targets by a group of mobile agents. The targets appear and disappear at random times inside a surveillance region and their positions are random…