Related papers: Three-agent Time-constrained Cooperative Pursuit-E…
Pursuit-evasion differential games using the Disturbance Attenuation approach are revisited. Under this approach, the pursuer actions are considered to be control actions, whereas all external actions, such as target maneuvers, measurement…
This paper studies a leader-follower formation tracking problem where the leaders are moving at the same unknown bounded velocity. A distance-based control law is proposed for follower agents to maintain the desired distances in the…
Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…
In this work, a novel distributed search-planning framework is proposed, where a dynamically varying team of autonomous agents cooperate in order to search multiple objects of interest in three-dimension (3-D). It is assumed that the agents…
This paper investigates a problem of defending safety-critical infrastructure from an adversarial aerial attacker in an urban environment. A circular arc formation of defenders is formed around the attacker, and vector-field based guidance…
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…
A model of strategy formulation is used to study how an adaptive attacker learns to overcome a moving target cyber defense. The attacker-defender interaction is modeled as a game in which a defender deploys a temporal platform migration…
This paper studies a two-person linear-quadratic-Gaussian pursuit-evasion differential game with costly but controlled information. One player can decide when to observe the other player's state. However, one observation of another player's…
In this paper we consider a Target-guarding differential game where the Defender must protect a linearly moving line segment by intercepting the Attacker who tries to reach it. In contrast to common Target-guarding problems, we assume that…
This paper investigates the encirclement control problem involving two groups using a non-cooperative differential game approach. The active group seeks to chase and encircle the passive group, while the passive group responds by fleeing…
Through multi-agent competition and the sparse high-level objective of winning a race, we find that both agile flight (e.g., high-speed motion pushing the platform to its physical limits) and strategy (e.g., overtaking or blocking) emerge…
In this paper, a novel decentralized intelligent adaptive optimal strategy has been developed to solve the pursuit-evasion game for massive Multi-Agent Systems (MAS) under uncertain environment. Existing strategies for pursuit-evasion games…
This work derives two basic engagement zone models, describing regions of potential risk or capture for a mobile vehicle by a pursuer. The pursuer is modeled as having turn-constraints rather than simple motion. Turn-only (C-Paths) and…
The perimeter defense game has received interest in recent years as a variant of the pursuit-evasion game. A number of previous works have solved this game to obtain the optimal strategies for defender and intruder, but the derived theory…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
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…
This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…
This work proposes a cooperative strategy that employs deviated pursuit guidance to simultaneously intercept a moving (but not manoeuvring) target. As opposed to many existing cooperative guidance strategies which use estimates of…
Pursuit-Evasion Games (in discrete time) are stochastic games with nonnegative daily payoffs, with the final payoff being the cumulative sum of payoffs during the game. We show that such games admit a value even in the presence of…
Currently the Dempster-Shafer based algorithm and Uniform Random Probability based algorithm are the preferred method of resolving security games, in which defenders are able to identify attackers and only strategy remained ambiguous.…