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

In the prior literature on multi-agent area defense games, the assignments of the defenders to the attackers are done based on a cost metric associated only with the interception of the attackers. In contrast to that, this paper presents an…

We explored the Patrol Security Game (PSG), a robotic patrolling problem modeled as an extensive-form Stackelberg game, where the attacker determines the timing, location, and duration of their attack. Our objective is to devise a…

Coordinated missions involving Unmanned Aerial Vehicles (UAVs) in dynamic environments pose significant challenges in maintaining both coordination and agility. In this paper, relying on the cooperative path following framework and using a…

This paper investigates the use of Multi-Task Bayesian Optimization for tuning decentralized trajectory generation algorithms in multi-drone systems. We treat each task as a trajectory generation scenario defined by a specific number of…

This research offers a novel framework for dynamic task assignment for unmanned aerial vehicles (UAVs) in cooperative search settings. Notably, it incorporates post-fault UAV capabilities into job assignment techniques, assuring operational…

This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…

In this paper, we present a dual-layer online optimization strategy for defender robots operating in multiplayer reach-avoid games within general convex environments. Our goal is to intercept as many attacker robots as possible without…

In a multi-tenant cloud, a number of Virtual Machines (VMs) are collocated on the same physical machine to optimize performance, power consumption and maximize profit. This, however, increases the risk of a malicious VM performing…

We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some…

Multi-robot systems are increasingly deployed in applications, such as intralogistics or autonomous delivery, where multiple robots collaborate to complete tasks efficiently. One of the key factors enabling their efficient cooperation is…

We study the problem of sensor scheduling for an intrusion detection task. We model this as a two-player zero-sum game over a graph, where the defender (Player 1) seeks to identify the optimal strategy for scheduling sensor orientations to…

Moving Target Defense (MTD) has emerged as a newcomer into the asymmetric field of attack and defense, and shuffling-based MTD has been regarded as one of the most effective ways to mitigate DDoS attacks. However, previous work does not…

This paper investigates heterogeneous-cost task allocation with budget constraints (HCTAB), wherein heterogeneity is manifested through the varying capabilities and costs associated with different agents for task execution. Different from…

This paper presents a multi-mode solution to the problem of defending a circular protected area (target) from a wide range of attacks by swarms of risk-taking and/or risk-averse attacking agents (attackers). The proposed multi-mode solution…

Coordinating time-sensitive deliveries in environments like hospitals poses a complex challenge, particularly when managing multiple online pickup and delivery requests within strict time windows using a team of heterogeneous robots.…

Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor;…

This paper addresses the problem of tracking mobile intruders in a polygonal environment. We assume that a team of diagonal guards is deployed inside the polygon to provide mobile coverage. First, we formulate the problem of tracking a…

This paper discusses a consensus-based alternating direction method of multipliers (ADMM) approach to solve the multi-area coordinated network-constrained unit commitment (NCUC) problem in a distributed manner. Due to political and…

This paper proposes a novel multi-unmanned aerial vehicle (UAV) assisted collaborative mobile edge computing (MEC) framework, where the computing tasks of terminal devices (TDs) can be decomposed into serial or parallel sub-tasks and…

Efficient multi-UAV exploration under limited communication is severely bottlenecked by inadequate task representation and allocation. Previous task representations either impose heavy communication requirements for coordination or lack the…