Related papers: Perimeter Defense using a Turret with Finite Range…
In this paper, we investigate a multi-agent target guarding problem in which a single defender seeks to capture multiple attackers aiming to reach a high-value target area. In contrast to previous studies, the attackers herein are assumed…
Simulating hostile attacks of physical autonomous systems can be a useful tool to examine their robustness to attack and inform vulnerability-aware design. In this work, we examine this through the lens of multi-robot patrol, by presenting…
A classical multi-agent fence patrolling problem asks: What is the maximum length $L$ of a line that $k$ agents with maximum speeds $v_1,\ldots,v_k$ can patrol if each point on the line needs to be visited at least once every unit of time.…
Given a line segment $I=[0,L]$, the so-called barrier, and a set of $n$ sensors with varying ranges positioned on the line containing $I$, the barrier coverage problem is to move the sensors so that they cover $I$, while minimising the…
Advanced persistent threat (APT) is a kind of stealthy, sophisticated, and long-term cyberattack that has brought severe financial losses and critical infrastructure damages. Existing works mainly focus on APT defense under stable network…
We consider the problem of searching for an intruder in a geometric domain by utilizing multiple search robots. The domain is a simply connected orthogonal polygon with edges parallel to the cartesian coordinate axes. Each robot has a…
Cooperation between mobile robots and wireless sensor networks is a line of research that is currently attracting a lot of attention. In this context, we study the following problem of barrier coverage by stationary wireless sensors that…
We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some…
This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…
We present a model for layered security with applications to the protection of sites such as stadiums or large gathering places. We formulate the problem as one of maximizing the capture of illegal contraband. The objective function is…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Terrain Guarding Problem(TGP), which is known to be NP-complete, asks to find a smallest set of guard locations on a terrain $T$ such that every point on $T$ is visible by a guard. Here, we study this problem on 1.5D orthogonal terrains…
This paper addresses a two-player target defense game in the $n$-dimensional Euclidean space where an attacker attempts to enter a closed convex target set while a defender strives to capture the attacker beforehand. We provide a complete…
This work shows the existence of optimal control laws for persistent monitoring of mobile targets in a one-dimensional mission space and derives explicit solutions. The underlying performance metric consists of minimizing the total…
Perimeter identification involves ascertaining the boundaries of a designated area or zone, requiring traffic flow monitoring, control, or optimization. Various methodologies and technologies exist for accurately defining these perimeters;…
While traditional optimization problems were often studied in isolation, many real-world problems today require interdependence among multiple optimization components. The traveling thief problem (TTP) is a multi-component problem that has…
We study the algorithmic problem of optimally covering a tree with $k$ mobile robots. The tree is known to all robots, and our goal is to assign a walk to each robot in such a way that the union of these walks covers the whole tree. We…
This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called gatekeeper, recursively guarantees the existence of an infinite-horizon…
Maximising the detection of intrusions is a fundamental and often critical aim of perimeter surveillance. Commonly, this requires a decision-maker to optimally allocate multiple searchers to segments of the perimeter. We consider a scenario…
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…