Related papers: Escape from an Orbiting Pursuer with a Nonzero Cap…

A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…

In this paper, we consider a problem motivated by search-and-rescue applications, where an unmanned aerial vehicle (UAV) seeks to approach the vicinity of a distant quasi-stationary radio frequency (RF) emitter surrounded by local…

A random search of a partially absorbing target by a run-and-tumble particle in a confined one-dimensional space is investigated. We analytically obtain the mean searching time, which shows a non-monotonic behavior as a function of the…

Pursuit-evasion games are ubiquitous in nature and in an artificial world. In nature, pursuer(s) and evader(s) are intelligent agents that can learn from experience, and dynamics (i.e., Newtonian or Lagrangian) is vital for the pursuer and…

Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…

This paper addresses multi-UAV pursuit-evasion, where a group of drones cooperates to capture a fast evader in a confined environment with obstacles. Existing heuristic algorithms, which simplify the pursuit-evasion problem, often lack…

Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…

This article addresses the problem of multi-object tracking by using a non-deterministic model of target behaviors with hard constraints. To capture the evolution of target features as well as their locations, we permit objects to lie in a…

We study pursuit-evasion games in highly occluded urban environments, e.g. tall buildings in a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We show that we can build a neural radiance field (NeRF)…

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…

This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly…

A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…

In this paper, the near-optimal capture problem is numerically investigated to locate the optimal capture points around Charon using the Pluto-Charon planar circular restricted three-body problem (PCRTBP). Capture orbits are divided into…

This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…

This work addresses the finite-time enclosing control problem where a set of followers are deployed to encircle and rotate around multiple moving targets with a predefined spacing pattern in finite time. A novel distributed and continuous…

This letter presents a density function based safe control synthesis framework for the pursuit-evasion problem. We extend safety analysis to dynamic unsafe sets by formulating a reach-avoid type pursuit-evasion differential game as a robust…

A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…

We investigate a minimal chase-and-escape model on a two-dimensional square lattice with randomly distributed static obstacles, focusing on how geometric disorder controls collective pursuit dynamics. Chasers and escapers move according to…

The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…