Related papers: Apollonius Allocation Algorithm for Heterogeneous …
We consider a task of surveillance-evading path-planning in a continuous setting. An Evader strives to escape from a 2D domain while minimizing the risk of detection (and immediate capture). The probability of detection is path-dependent…
In network interdiction problems, evaders (e.g., hostile agents or data packets) may be moving through a network towards targets and we wish to choose locations for sensors in order to intercept the evaders before they reach their…
We consider surveillance-evasion differential games, where a pursuer must try to constantly maintain visibility of a moving evader. The pursuer loses as soon as the evader becomes occluded. Optimal controls for game can be formulated as a…
Next generation networks are expected to be ultradense and aim to explore spectrum sharing paradigm that allows users to communicate in licensed, shared as well as unlicensed spectrum. Such ultra-dense networks will incur significant…
This study proposes two new dynamic assignment algorithms to match refugees and asylum seekers to geographic localities within a host country. The first, currently implemented in a multi-year randomized control trial in Switzerland, seeks…
In many applications such as rationing medical care and supplies, university admissions, and the assignment of public housing, the decision of who receives an allocation can be justified by various normative criteria. Such settings have…
In this paper we propose search strategies for heterogeneous multi-agent systems. Multiple agents, equipped with communication gadget, computational capability, and sensors having heterogeneous capabilities, are deployed in the search space…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
This paper considers the distributed strategy design for Nash equilibrium (NE) seeking in multi-cluster games under a partial-decision information scenario. In the considered game, there are multiple clusters and each cluster consists of a…
We are concerned with a distributed approach to solve multi-cluster games arising in multi-agent systems. In such games, agents are separated into distinct clusters. The agents belonging to the same cluster cooperate with each other to…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
In this work, we consider the problem of autonomous racing with multiple agents where agents must interact closely and influence each other to compete. We model interactions among agents through a game-theoretical framework and propose an…
Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown environments. In this work, the problem of territory defense…
We consider a variant of the target defense problem in a planar conical environment where a single defender is tasked to capture a sequence of incoming attackers. The attackers' objective is to breach the target boundary without being…
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of…
Imitation is widely observed in populations of decision-making agents. Using our recent convergence results for asynchronous imitation dynamics on networks, we consider how such networks can be efficiently driven to a desired equilibrium…
We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express…
Consider a given planar circular region, in which there is an unknown number of smart mobile evaders. We wish to detect evaders using a line formation of sweeping agents whose total sensing length is predetermined. We propose procedures for…
Navigation in cluttered underwater environments is challenging, especially when there are constraints on communication and self-localisation. Part of the fully distributed underwater navigation problem has been resolved by introducing…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…