Related papers: NMPC-Based Cooperative Strategy For A Target Pair …
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
To be successful in multi-player drone racing, a player must not only follow the race track in an optimal way, but also compete with other drones through strategic blocking, faking, and opportunistic passing while avoiding collisions. Since…
An inherent assumption of perfect tracking in iterative learning control (ILC) is that there exists an ILC input such that the generated output can track the desired trajectory reference. This assumption may fail in practice, which gives…
This paper proposes an active attack detection scheme for constrained cyber-physical systems. Despite passive approaches where the detection is based on the analysis of the input-output data, active approaches interact with the system by…
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…
Ensuring robust decision-making in multi-agent systems is challenging when agents have distinct, possibly conflicting objectives and lack full knowledge of each other's strategies. This is apparent in safety-critical applications such as…
Decision making in advanced driver assistance systems involves in general the estimated trajectories of the surrounding objects. Multiple object tracking refers to the process of estimating in real time these trajectories, leveraging for…
In this paper, we consider a cooperative device-todevice (D2D) communication system, where the D2D transmitters (DTs) act as relays to assist the densified cellular network users (CUs) for transmission quality of service (QoS) improvement.…
This paper studies the resilience of second-order networked dynamical systems to strategic attacks. We discuss two widely used control laws, which have applications in power networks and formation control of autonomous agents. In the first…
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains…
As large language models grow increasingly capable, concerns about their safe deployment have intensified. While numerous alignment strategies aim to restrict harmful behavior, these defenses can still be circumvented through carefully…
This paper addresses the active target defense differential game where an Attacker missile pursues a Target aircraft. A Defender missile is fired by the Target's wingman in order to intercept the Attacker before it reaches the aircraft.…
Capturing target objects using the quadrotor has gained increasing popularity in recent years, but most studies focus on capturing lightweight objects. The instantaneous contact force generated when capturing objects of a certain mass,…
We examine the tuning of cooperative behavior in repeated multi-agent games using an analytically tractable, continuous-time, nonlinear model of opinion dynamics. Each modeled agent updates its real-valued opinion about each available…
This paper studies a stochastic game theoretic approach to security and intrusion detection in communication and computer networks. Specifically, an Attacker and a Defender take part in a two-player game over a network of nodes whose…
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…
A scenario is considered wherein a stationary, turn constrained agent (Turret) and a mobile agent (Defender) cooperate to protect the former from an adversarial mobile agent (Attacker). The Attacker wishes to reach the Turret prior to…
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arbitrarily small inter-vehicle distance while guaranteeing no…
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…
In addressing the challenge of exponential scaling with the number of agents we adopt a cluster-based representation to approximately solve asymmetric games of very many players. A cluster groups together agents with a similar "strategic…