Related papers: Virtual Target Selection for a Multiple-Pursuer Mu…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of…
Designing robust machine learning systems remains an open problem, and there is a need for benchmark problems that cover both environmental changes and evaluation on a downstream task. In this work, we introduce AVOIDDS, a realistic object…
In this paper, a Priority-based Dynamic REsource Allocation with decentralized Multi-task assignment (P-DREAM) approach is presented to protect a territory from highly manoeuvring intruders. In the first part, static optimization problems…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
Consider a given planar circular region, in which there is an unknown number of smart mobile evaders. We wish to detect evaders using a line formation of sweeping agents whose total sensing length is predetermined. We propose procedures for…
The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…
As the effective range of air-to-air missiles increases, it becomes harder for human operators to maintain the situational awareness needed to keep a UAV safe. In this work, we propose a decision support tool to help UAV operators in Beyond…
Unmanned aerial vehicles (UAVs) have become increasingly prevalent in various domains, ranging from military operations to civilian applications. However, the proliferation of UAVs has also given rise to concerns regarding their potential…
Multi-agent multi-target tracking has a wide range of applications, including wildlife patrolling, security surveillance or environment monitoring. Such algorithms often make restrictive assumptions: the number of targets and/or their…
This paper delves into a rendezvous scenario involving a chaser and a target spacecraft, focusing on the application of Model Predictive Control (MPC) to design a controller capable of guiding the chaser toward the target. The operational…
Physical adversarial attacks are increasingly studied in settings that resemble deployed surveillance systems rather than isolated image benchmarks. In these settings, person detection, multi-object tracking, visible--infrared sensing, and…
Maintaining the visibility of the target is one of the major objectives of aerial tracking missions. This paper proposes a target-visible trajectory planning pipeline using quadratic programming. Our approach can handle various tracking…
Patrolling is one of the central problems in operational security. Formally, a patrolling problem is specified by a set $U$ of nodes (admissible defender's positions), a set $T \subseteq U$ of vulnerable targets, an admissible defender's…
We consider reachability decision problems for linear dynamical systems: Given a linear map on $\mathbb{R}^d$ , together with source and target sets, determine whether there is a point in the source set whose orbit, obtained by repeatedly…
In active visual tracking, it is notoriously difficult when distracting objects appear, as distractors often mislead the tracker by occluding the target or bringing a confusing appearance. To address this issue, we propose a mixed…
This letter proposes a novel continuous-time dynamic programming framework to determine when it is optimal for a pursuer to use MC amidst uncertainty in the evader's escape attempt time. We motivate this framework through the model problem…
This paper introduces a nonlinear optimal guidance framework for guiding a pursuer to intercept a moving target, with an emphasis on real-time generation of optimal feedback control for a nonlinear optimal control problem. Initially,…
The question tackled here is the time allocation of radars in a multitarget environment. At a given time radars can only observe a limited part of the space; it is therefore necessary to move their axis with respect to time, in order to be…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…