Related papers: Spiral Sweeping Search for Smart Evaders

We consider a task of surveillance-evading path-planning in a continuous setting. An Evader strives to escape from a 2D domain while minimizing the risk of detection (and immediate capture). The probability of detection is path-dependent…

The interdiction of escaping adversaries in urban networks is a critical security challenge. State-of-the-art game-theoretic models, such as the Escape Interdiction Game (EIG), provide comprehensive frameworks but assume a highly dynamic…

Local navigation is one of the fundamental problems in robot navigation, and numerous approaches have been proposed over the years, including methods such as the Dynamic Window Approach, Model Predictive Control, and more recently, Control…

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 apply…

Pulsar searching with next-generation radio telescopes requires efficiently sifting through millions of candidates generated by search pipelines to identify the most promising ones. This challenge has motivated the utilization of Artificial…

Deep Research systems based on web agents have shown strong potential in solving complex information-seeking tasks, yet their search efficiency remains underexplored. We observe that many state-of-the-art open-source web agents rely on long…

This paper presents a search-based partial motion planner to generate dynamically feasible trajectories for car-like robots in highly dynamic environments. The planner searches for smooth, safe, and near-time-optimal trajectories by…

We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…

This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…

The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents'…

In this paper, we propose a time-efficient approach to generate safe, smooth and dynamically feasible trajectories for quadrotors in obstacle-cluttered environment. By using the uniform B-spline to represent trajectories, we transform the…

A multi-agent system comprises numerous agents that autonomously make decisions to collectively accomplish tasks, drawing significant attention for their wide-ranging applications. Within this context, formation control emerges as a…

This paper studies a novel encirclement guaranteed cooperative pursuit problem involving $N$ pursuers and a single evader in an unbounded two-dimensional game domain. Throughout the game, the pursuers are required to maintain encirclement…

One of the major motifs in collective or swarm intelligence is that, even though individuals follow simple rules, the resulting global behavior can be complex and intelligent. In artificial swarm systems, such as swarm robots, the goal is…

This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…

Pursuit-evasion is a multi-agent sequential decision problem wherein a group of agents known as pursuers coordinate their traversal of a spatial domain to locate an agent trying to evade them. Pursuit evasion problems arise in a number of…

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…