Related papers: Guaranteed Evader Detection in Multi-Agent Search …
While large language models have demonstrated impressive capabilities in web navigation tasks, the extensive context of web pages, often represented as DOM or Accessibility Tree (AxTree) structures, frequently exceeds model context limits.…
Safe navigation of autonomous agents in human centric environments requires the ability to understand and predict motion of neighboring pedestrians. However, predicting pedestrian intent is a complex problem. Pedestrian motion is governed…
In this paper we investigate the problem of designing a spectrum scanning strategy to detect an intelligent Invader who wants to utilize spectrum undetected for his/her unapproved purposes. To deal with this problem we model the situation…
This paper considers an M-pursuer N-evader scenario involving virtual targets. The virtual targets serve as an intermediary target for the pursuers, allowing the pursuers to delay their final assignment to the evaders. However, upon…
Finding a target in a complex environment is a fundamental challenge in nature, from chemical reactions to sperm reaching an egg. An effective strategy to reduce the time needed to reach a target is to deploy many searchers, increasing the…
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…
Consider a two-person zero-sum search game between a Hider and a Searcher. The Hider chooses to hide in one of $n$ discrete locations (or "boxes") and the Searcher chooses a search sequence specifying which order to look in these boxes…
This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…
We present an algorithm for receding-horizon motion planning using a finite family of motion primitives for underactuated dynamic walking over uneven terrain. The motion primitives are defined as virtual holonomic constraints, and the…
This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…
The evolving necessity of the Internet increases the demand on the bandwidth. Therefore, this demand opens the doors for the hackers' community to develop new methods and techniques to gain control over networking systems. Hence, the…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
The application of Multiple Unmanned Aerial Vehicles (Multi-UAV) in Wilderness Search and Rescue (WiSAR) significantly enhances mission success due to their rapid coverage of search areas from high altitudes and their adaptability to…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
A Differential Drive Robot (DDR) located inside a circular detection region in the plane wants to escape from it in minimum time. Various robotics applications can be modeled like the previous problem, such as a DDR escaping as soon as…
In this work, we design and develop a smart intruder detection and alert system which aims to elevate the security as well as the likelihood of true positive identification of trespassers and intruders as compared to other commonly deployed…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…