Related papers: A Decentralized Multi-UAV Spatio-Temporal Multi-Ta…

Multi-Robot Task Allocation (MRTA) is a problem that arises in many application domains including package delivery, warehouse robotics, and healthcare. In this work, we consider the problem of MRTA for a dynamic stream of tasks with task…

In the Target-Attacker-Defender (TAD) differential game, an Attacker missile strives to capture a Target aircraft. The Target tries to escape the Attacker and is aided by a Defender missile which aims at intercepting the Attacker before the…

In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized…

As autonomous systems become more prevalent in the real world, it is critical to ensure they operate safely. One approach is the use of Run Time Assurance (RTA), which is a real-time safety assurance technique that monitors a primary…

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…

Moving Target Defense (MTD) has emerged as a proactive and dynamic framework to counteract evolving cyber threats. Traditional MTD approaches often rely on assumptions about the attackers knowledge and behavior. However, real-world…

We study a multi-body asset-guarding game in missile defense where teams of interceptor missiles collaborate to defend a non-manuevering asset against a group of threat missiles. We approach the problem in two steps. We first formulate an…

This paper studies the traffic monitoring problem in a road network using a team of aerial robots. The problem is challenging due to two main reasons. First, the traffic events are stochastic, both temporally and spatially. Second, the…

Spatio-temporal graph learning is a fundamental problem in modern urban systems. Existing approaches tackle different tasks independently, tailoring their models to unique task characteristics. These methods, however, fall short of modeling…

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…

We consider the decentralized exploration problem: a set of players collaborate to identify the best arm by asynchronously interacting with the same stochastic environment. The objective is to insure privacy in the best arm identification…

In this paper, the multi-target tracking (MTT) with an unmanned aerial vehicle (UAV) swarm is investigated in the presence of jammers, where UAVs in the swarm communicate with each other to exchange information of targets during tracking.…

We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. The intruders' objective is to breach the target boundary without being captured by the defender. As soon as…

Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…

The decentralized perimeter surveillance system (DPSS) seeks to provide a decentralized protocol for evenly distributing surveillance of a perimeter over time across an ensemble of unmanned aerial vehicles (UAVs) whose members may…

In adversarial patrolling games, a mobile Defender strives to discover intrusions at vulnerable targets initiated by an Attacker. The Attacker's utility is traditionally defined as the probability of completing an attack, possibly weighted…

This paper addresses the problem of target detection and localisation in a limited area using multiple coordinated agents. The swarm of Unmanned Aerial Vehicles (UAVs) determines the position of the dispersion of stack effluents to a gas…

We introduce a decentralized and online path planning technique for a network of unmanned aerial vehicles (UAVs) in the presence of weather disturbances. In our problem setting, the group of UAVs are required to collaboratively visit a set…

We propose a decentralized auction-based algorithm for the solution of dynamic task allocation problems for spatially distributed multi-agent systems. In our approach, each member of the multi-agent team is assigned to at most one task from…

This paper proposes a time-efficient mechanism to decrease the on-line computing time of solving the joint unmanned aerial vehicle base station (UAV-BS) deployment and user/sensor association (UDUA) problem aiming at maximizing the downlink…