Related papers: Evasive path planning under surveillance uncertain…
Although dynamic games provide a rich paradigm for modeling agents' interactions, solving these games for real-world applications is often challenging. Many real-world interactive settings involve general nonlinear state and input…
Trajectory planning is a key piece in the algorithmic architecture of a robot. Trajectory planners typically use iterative optimization schemes for generating smooth trajectories that avoid collisions and are optimal for tracking given the…
We study the trajectory optimization problem under chance constraints for continuous-time stochastic systems. To address chance constraints imposed on the entire stochastic trajectory, we propose a framework based on the set erosion…
In mobile robotics and autonomous driving, it is natural to model agent interactions as the Nash equilibrium of a noncooperative, dynamic game. These methods inherently rely on observations from sensors such as lidars and cameras to…
Trajectory optimization is a fundamental stochastic optimal control problem. This paper deals with a trajectory optimization approach for dynamical systems subject to measurement noise that can be fitted into linear time-varying stochastic…
The interdiction problem arises in a variety of areas including military logistics, infectious disease control, and counter-terrorism. In the typical formulation of network interdiction, the task of the interdictor is to find a set of edges…
A planar herding problem is considered, where a superior pursuer herds a flock of non-cooperative, inferior evaders around a predefined target point. An inverse square law of repulsion is assumed between the pursuer and each evader. Two…
Discrete-time stochastic optimal control remains a challenging problem for general, nonlinear systems under significant uncertainty, with practical solvers typically relying on the certainty equivalence assumption, replanning and/or…
In adversarial patrolling games, a mobile Defender strives to discover intrusions at vulnerable targets initiated by an Attacker. The Attacker's utility is traditionally defined as the probability of completing an attack, possibly weighted…
Public transit systems in urban areas usually require large state subsidies, primarily due to high fare evasion rates. In this paper, we study new models for optimizing fare inspection strategies in transit networks based on bilevel…
Many autonomous agents, such as intelligent vehicles, are inherently required to interact with one another. Game theory provides a natural mathematical tool for robot motion planning in such interactive settings. However, tractable…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
We present a safe-by-design approach to path planning and control for nonlinear systems. The planner uses a low fidelity model of the plant to compute reference trajectories by solving an MPC problem, while the plant being controlled…
In this paper we consider shortest path problems in a directed graph where the transitions between nodes are subject to uncertainty. We use a minimax formulation, where the objective is to guarantee that a special destination state is…
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…
This paper studies a two-person linear-quadratic-Gaussian pursuit-evasion differential game with costly but controlled information. One player can decide when to observe the other player's state. However, one observation of another player's…
Covert planning refers to a class of constrained planning problems where an agent aims to accomplish a task with minimal information leaked to a passive observer to avoid detection. However, existing methods of covert planning often…
This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…
This paper presents a game-theoretic path-following formulation where the opponent is an adversary road model. This formulation allows us to compute safe sets using tools from viability theory, that can be used as terminal constraints in an…
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions among agents. While game-theoretic methods are widely…