Related papers: A Differential Game Approach for Beyond Visual Ran…

We consider a multi-agent system in which a decentralized team of agents controls a stochastic system in the presence of an adversary. Instead of committing to a fixed information sharing protocol, the agents can strategically decide at…

This work considers designing an unmanned target hunting system for a swarm of unmanned underwater vehicles (UUVs) to hunt a target with high maneuverability. Differential game theory is used to analyze combat policies of UUVs and the…

A novel deep multi-agent reinforcement learning framework is proposed to identify and resolve conflicts among a variable number of aircraft in a high-density, stochastic, and dynamic sector. Currently the sector capacity is constrained by…

Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…

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…

Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…

Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…

In many settings where multiple agents interact, the optimal choices for each agent depend heavily on the choices of the others. These coupled interactions are well-described by a general-sum differential game, in which players have…

We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the…

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…

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,…

Unmanned aerial vehicles (UAVs) have become increasingly prevalent in various domains, ranging from military operations to civilian applications. However, the proliferation of UAVs has also given rise to concerns regarding their potential…

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 a remote sensor (e.g., a radar station) that can sense the evader's location upon a…

Pursuit and evasion conflicts represent challenging problems with important applications in aerospace and robotics. In pursuit-evasion problems, synthesis of intelligent actions must consider the adversary's potential strategies.…

We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the…

This paper presents a game-theoretic strategy for racing, where the autonomous ego agent seeks to block a racing opponent that aims to overtake the ego agent. After a library of trajectory candidates and an associated reward matrix are…

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…

This work considers a multiplayer reach-avoid game between two adversarial teams in a general convex domain which consists of a target region and a play region. The evasion team, initially lying in the play region, aims to send as many its…

Deploying autonomous driving systems requires robustness against long-tail scenarios that are rare but safety-critical. While adversarial training offers a promising solution, existing methods typically decouple scenario generation from…

This paper studies a 3D multiplayer reach-avoid differential game with a goal region and a play region. Multiple pursuers defend the goal region by consecutively capturing multiple evaders in the play region. The players have heterogeneous…