Related papers: NMPC-Based Cooperative Strategy For A Target Pair …

In this paper, we consider a territory guarding game involving pursuers, evaders and a target in an environment that contains obstacles. The goal of the evaders is to capture the target, while that of the pursuers is to capture the evaders…

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in…

We present a resource-planning game for cyber-security of networked control systems (NCS). The NCS is assumed to be operating in closed-loop using a linear state-feedback $\mathcal{H}_2$ controller. A zero-sum, two-player Stackelberg game…

This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…

This paper studies the synthesis of control policies for an agent that has to satisfy a temporal logic specification in a partially observable environment, in the presence of an adversary. The interaction of the agent (defender) with the…

Strategic coordination between autonomous agents and human partners under incomplete information can be modeled as turn-based cooperative games. We extend a turn-based game under incomplete information, the shared-control game, to allow…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

This study proposes a mathematical model to optimally locate a set of detectors in such a way that the expected number of casualties in a given threat area can be minimized. Detectors may not be perfectly reliable, which is often a function…

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 letter employs differential game theory to address the defense problem of a circular target area with perception constraints, involving a single defender and a single attacker. The defender is restricted to moving along the perimeter,…

Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…

Cooperation is a fundamental social mechanism, whose effects on human performance have been investigated in several environments. Online games are modern-days natural settings in which cooperation strongly affects human behavior. Every day,…

This paper introduces Team-Attention-Actor-Critic (TAAC), a reinforcement learning algorithm designed to enhance multi-agent collaboration in cooperative environments. TAAC employs a Centralized Training/Centralized Execution scheme…

Extended target tracking estimates the centroid and shape of the target in space and time. In various situations where extended target tracking is applicable, the presence of multiple targets can lead to interference, particularly when they…

A dual adaptive model predictive control (MPC) algorithm is presented for linear, time-invariant systems subject to bounded disturbances and parametric uncertainty in the state-space matrices. Online set-membership identification is…

We study a target coverage problem in which a team of sensing agents, operating under limited communication, must collaboratively monitor targets that may be adaptively repositioned by an attacker. We model this interaction as a zero-sum…

Cooperative Adaptive Cruise Control (CACC) is a technology that allows groups of vehicles to form in automated, tightly-coupled platoons. CACC schemes exploit Vehicle-to-Vehicle (V2V) wireless communications to exchange information between…

This paper studies a 3D multiplayer reach-avoid differential game with a goal region and a play region. Multiple pursuers defend the goal region by consecutively capturing multiple evaders in the play region. The players have heterogeneous…

Adversarial attack is a technique for deceiving Machine Learning (ML) models, which provides a way to evaluate the adversarial robustness. In practice, attack algorithms are artificially selected and tuned by human experts to break a ML…

We address a problem of area protection in graph-based scenarios with multiple agents. The problem consists of two adversarial teams of agents that move in an undirected graph shared by both teams. Agents are placed in vertices of the…