Related papers: Control-Theoretic Models of Environmental Crime
Shmuel Gal and Jerome Casas have recently introduced a game theoretic model that combines search and pursuit by a predator for a prey animal. The prey (hider) can hide in a finite number of locations. The predator (searcher) can inspect any…
We model, simulate and control the guiding problem for a herd of evaders under the action of repulsive drivers. The problem is formulated in an optimal control framework, where the drivers (controls) aim to guide the evaders (states) to a…
We model and analyze a herding problem, where the drivers try to steer the evaders' trajectories while the evaders always move away from the drivers. This problem is motivated by the guidance-by-repulsion model [Escobedo, R., Iba\~nez, A.…
Model predictive control (MPC) is a popular strategy for urban traffic management that is able to incorporate physical and user defined constraints. However, the current MPC methods rely on finite horizon predictions that are unable to…
Large-scale controlled evacuations require emergency services to select evacuation routes, decide departure times, and mobilize resources to issue orders, all under strict time constraints. Existing algorithms almost always allow for…
A machine learning method is proposed using two agents that simulate the biological behavior of a predator and a prey. In this method, the predator and the prey interact with each other - the predator chases the prey while the prey runs…
How to free a road from vehicle traffic as efficiently as possible and in a given time, in order to allow for example the passage of emergency vehicles? We are interested in this question which we reformulate as an optimal control problem.…
A defender dispatches patrollers to circumambulate a perimeter to guard against potential attacks. The defender decides on the time points to dispatch patrollers and each patroller's direction and speed, as long as the long-run rate…
One of the challenges in online reinforcement learning (RL) is that the agent needs to trade off the exploration of the environment and the exploitation of the samples to optimize its behavior. Whether we optimize for regret, sample…
We consider the escape interdiction problem in a transportation network. In the absence of traffic in the network, the criminal/attacker tries to escape from the city using any of the shortest paths from the crime scene to any randomly…
In this paper we propose a classification of crowd models in built environments based on the assumed pedestrian ability to foresee the movements of other walkers. At the same time, we introduce a new family of macroscopic models, which make…
Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…
This paper proposes an active attack detection scheme for constrained cyber-physical systems. Despite passive approaches where the detection is based on the analysis of the input-output data, active approaches interact with the system by…
Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…
It is well established that humans decision making and instrumental control uses multiple systems, some which use habitual action selection and some which require deliberate planning. Deliberate planning systems use predictions of…
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…
In contemporary society, the effective utilization of public resources remains a subject of significant concern. A common issue arises from defectors seeking to obtain an excessive share of these resources for personal gain, potentially…
In any ecosystem, the conditions of the environment and the characteristics of the species that inhabit it are entangled, co-evolving in space and time. We introduce a model that couples active agents with a dynamic environment, interpreted…
Crime has both varying patterns in space, related to features of the environment, economy, and policing, and patterns in time arising from criminal behavior, such as retaliation. Serious crimes may also be presaged by minor crimes of…
Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…