Related papers: Encirclement Guaranteed Cooperative Pursuit with R…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
We propose a decentralized solution for a pursuit-evasion game involving a heterogeneous group of rational (selfish) pursuers and a single evader based on the framework of potential games. In the proposed game, the evader aims to delay (or,…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
This paper studies a pursuit-evasion problem involving a single pursuer and a single evader, where we are interested in developing a pursuit strategy that doesn't require continuous, or even periodic, information about the position of the…
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…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with…
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…
We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varying with additive disturbance. Set bounds for the system…
This paper investigates the problem of robust model predictive control (RMPC) of linear-time-invariant (LTI) discrete-time systems subject to structured uncertainty and bounded disturbances. Typically, the constrained RMPC problem with…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
We study a pursuit-evasion differential game with finite number of pursuers and one evader in Hilbert space with geometric constraints on the control functions of players. We solve the game by presenting explicit strategies for pursuers…
In a pursuit-evasion game, a team of pursuers attempt to capture an evader. The players alternate turns, move with equal speed, and have full information about the state of the game. We consider the most restictive capture condition: a…
This paper investigates the application of game-theoretic principles combined with advanced Kalman filtering techniques to enhance maritime target tracking systems. Specifically, the paper presents a two-player, imperfect information,…
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
Industrial manipulators are normally operated in cluttered environments, making safe motion planning important. Furthermore, the presence of model-uncertainties make safe motion planning more difficult. Therefore, in practice the speed is…
We model and analyze a herding problem, where the drivers try to steer the evaders' trajectories while the evaders always move away from the drivers. This problem is motivated by the guidance-by-repulsion model [Escobedo, R., Iba\~nez, A.…