Related papers: Spiral Sweeping Search for Smart Evaders
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
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,…
Cover times measure the speed of exhaustive searches which require the exploration of an entire spatial region(s). Applications include the immune system hunting pathogens, animals collecting food, robotic demining or cleaning, and computer…
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.…
This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…
We consider the following distributed pursuit-evasion problem. A team of mobile agents called searchers starts at an arbitrary node of an unknown $n$-node network. Their goal is to execute a search strategy that guarantees capturing a fast…
Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…
Suction cups are an important gripper type in industrial robot applications, and prior literature focuses on using vision-based planners to improve grasping success in these tasks. Vision-based planners can fail due to adversarial objects…
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep 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…
We consider a scenario where a team of two unmanned aerial vehicles (UAVs) pursue an evader UAV within an urban environment. Each agent has a limited view of their environment where buildings can occlude their field-of-view. Additionally,…
We study the Escape Problem for discrete-time linear dynamical systems over compact semialgebraic sets. We establish a uniform upper bound on the number of iterations it takes for every orbit of a rational matrix to escape a compact…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
Autonomous exploration in complex and cluttered environments is essential for various applications. However, there are many challenges due to the lack of global heuristic information. Existing exploration methods suffer from the repeated…
We present a simple paradigm for detection of an immobile target by a space-time coupled random walker with a finite lifetime. The motion of the walker is characterized by linear displacements at a fixed speed and exponentially distributed…
We introduce Spiral, a third-order integration algorithm for the rotational motion of extended bodies. It requires only one force calculation per time step, does not require quaternion normalization at each time step, and can be formulated…
We propose an algorithm for generating minimum-snap trajectories for quadrotors with linear computational complexity with respect to the number of segments in the spline trajectory. Our algorithm is numerically stable for large numbers of…
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…
This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit,…