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A defender-attacker-target problem with non-moving target is considered. This problem is modeled by a pursuit-evasion zero-sum differential game with linear dynamics and quadratic cost functional. In this game the pursuer is the defender,…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
In this paper, we consider a target defense game in which the attacker team seeks to reach a high-value target while the defender team seeks to prevent that by capturing them away from the target. To address the curse of dimensionality, a…
In this study, we consider a multi-pursuer single-evader quantitative pursuit-evasion game with payoff function that includes only the terminal cost. The terminal cost is a function related only to the terminal position of the evader. This…
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…
In this paper, a time-optimal feedback solution to the game of two cars, for the case where the pursuer is faster and more agile than the evader, is presented. The concept of continuous subsets of the reachable set is introduced to…
A geometric approach to differential game theory is illustrated. The parallel pursuit is considered as a two-player zero-sum differential game. The optimal strategies of each player is designed based on Riemann-Finsler geometry. Our…
With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…
In this paper, we present a method for finding approximate Nash equilibria in a broad class of reachability games. These games are often used to formulate both collision avoidance and goal satisfaction. Our method is computationally…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
This letter employs differential game theory to address the defense problem of a circular target area with perception constraints, involving a single defender and a single attacker. The defender is restricted to moving along the perimeter,…
The classic Homicidal Chauffeur game is a pursuit-evasion game played in an unbounded planar environment between a pursuer constrained to move with fixed speed on curves with bounded curvature, and a slower evader with fixed speed but with…
We study a finite-horizon differential game of pursuit-evasion like, between a single player and a mass of agents. The player and the mass directly control their own evolution, which for the mass is given by a first order PDE of transport…
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…
We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the…
Pursuit-evasion is a multi-agent sequential decision problem wherein a group of agents known as pursuers coordinate their traversal of a spatial domain to locate an agent trying to evade them. Pursuit evasion problems arise in a number of…
In the `Covering' pursuit game on a graph, a robber and a set of cops play alternately, with the cops each moving to an adjacent vertex (or not moving) and the robber moving to a vertex at distance at most 2 from his current vertex. The aim…
In classical works on a planar differential pursuit-evasion game with a faster pursuer, the intercept point resulting from the equilibrium strategies lies on the Apollonius circle. This property was exploited for the construction of the…
Pursuit-evasion games are ubiquitous in nature and in an artificial world. In nature, pursuer(s) and evader(s) are intelligent agents that can learn from experience, and dynamics (i.e., Newtonian or Lagrangian) is vital for the pursuer and…
We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is an immobile sensor (e.g., a ground radar station) that can sense the evader's…