Related papers: A Decentralized Multi-UAV Spatio-Temporal Multi-Ta…
Solving a collision-aware multi-agent mission planning (task allocation and path finding) problem is challenging due to the requirement of real-time computational performance, scalability, and capability of handling static/dynamic obstacles…
We study a variant of pursuit-evasion game in the context of perimeter defense. In this problem, the intruder aims to reach the base plane of a hemisphere without being captured by the defender, while the defender tries to capture the…
This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…
Maximising the detection of intrusions is a fundamental and often critical aim of perimeter surveillance. Commonly, this requires a decision-maker to optimally allocate multiple searchers to segments of the perimeter. We consider a scenario…
As an effective approach to thwarting advanced attacks, moving target defense (MTD) has been applied to various domains. Previous works on MTD, however, mainly focus on deciding the sequence of system configurations to be used and have…
In many domains such as transportation and logistics, search and rescue, or cooperative surveillance, tasks are pending to be allocated with the consideration of possible execution uncertainties. Existing task coordination algorithms either…
Swarm trajectory optimization problems are a well-recognized class of multi-agent optimal control problems with strong nonlinearity. However, the heuristic nature of needing to set the final time for agents beforehand and the time-consuming…
In this paper, a novel mathematical framework is introduced for modeling and analyzing the cyber-physical security of time-critical UAV applications. A general UAV security network interdiction game is formulated to model interactions…
Patrolling is one of the central problems in operational security. Formally, a patrolling problem is specified by a set $U$ of nodes (admissible defender's positions), a set $T \subseteq U$ of vulnerable targets, an admissible defender's…
Unmanned Aerial Vehicles (UAVs), also known as drones, have gained popularity in various fields such as agriculture, emergency response, and search and rescue operations. UAV networks are susceptible to several security threats, such as…
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…
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…
We propose a decentralized game-theoretic framework for dynamic task allocation problems for multi-agent systems. In our problem formulation, the agents' utilities depend on both the rewards and the costs associated with the successful…
This work studies a dynamic, adversarial resource allocation problem in environments modeled as graphs. A blue team of defender robots are deployed in the environment to protect the nodes from a red team of attacker robots. We formulate the…
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…
Camera-based perception is critical to autonomous driving yet remains vulnerable to task-specific adversarial manipulations in object detection and monocular depth estimation. Most existing 2D/3D attacks are developed in task silos, lack…
The surveillance multisensor placement is an important optimization problem that consists of positioning several sensors of different types to maximize the coverage of a determined area while minimizing the cost of the deployment. In this…
This paper develops and evaluates the performance of an allocation agent to be potentially integrated into the onboard Detect and Avoid (DAA) computer of an Unmanned Aircraft System (UAS). We consider a UAS that can be fully controlled by…
This article presents a closed-loop, uncertainty-aware framework for defending a protected zone against coordinated incursions by swarms of small uncrewed aircraft systems (UAS). The interaction structure of the attackers is modeled as…
This paper explores the critical issue of enhancing cybersecurity measures for low-cost, Wi-Fi-based Unmanned Aerial Vehicles (UAVs) against Distributed Denial of Service (DDoS) attacks. In the current work, we have explored three variants…