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In motion planning problems for autonomous robots, such as self-driving cars, the robot must ensure that its planned path is not in close proximity to obstacles in the environment. However, the problem of evaluating the proximity is…
We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…
This paper will detail the basis of our previously developed predictive model for pigeon flight paths based on observations of the specific individual being predicted. We will then describe how this model can be adapted to predict the…
Pure Pursuit (PP) is a widely used path-tracking algorithm in autonomous vehicles due to its simplicity and real-time performance. However, its effectiveness is sensitive to the choice of lookahead distance: shorter values improve cornering…
We study pursuit-evasion in a polygonal environment with polygonal obstacles. In this turn based game, an evader $e$ is chased by pursuers $p_1, p_2, ..., p_{\ell}$. The players have full information about the environment and the location…
Catching objects in-flight is an outstanding challenge in robotics. In this paper, we present a closed-loop control system fusing data from two sensor modalities: an RGB-D camera and a radar. To develop and test our method, we start with an…
Multi-view approaches to people-tracking have the potential to better handle occlusions than single-view ones in crowded scenes. They often rely on the tracking-by-detection paradigm, which involves detecting people first and then…
Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…
We consider a perimeter surveillance problem introduced by Kingston, Beard, and Holt in 2008 and studied by Davis, Humphrey, and Kingston in 2019. In this problem, $n$ drones surveil a finite interval, moving at uniform speed and exchanging…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
Imagine you are a dog behind a fence $Q$ and a hiker is passing by at constant speed along the hiking path $P$. In order to fulfil your duties as a watchdog, you desire to bark as long as possible at the human. However, your barks can only…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous…
Autonomous drone pursuit requires not only detecting drones but also predicting their trajectories in a manner that enables kinematically feasible interception. Existing tracking methods optimize for prediction accuracy but ignore pursuit…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
We show that a variant of the continuous Frechet distance between polygonal curves can be computed using essentially the same algorithm used to solve the discrete version. The new variant is not necessarily monotone, but this shortcoming…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…