Related papers: Basic Engagement Zones
This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating…
We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is a remote sensor (e.g., a radar station) that can sense the evader's location upon a…
We describe here a new concept of one group chasing another, called "group chase and escape", by presenting a simple model. We will show that even a simple model can demonstrate rather rich and complex behavior. In particular, there are…
This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving…
The zero-shot object navigation (ZSON) in unknown open-ended environments coupled with semantically novel target often suffers from the significant decline in performance due to the neglect of high-dimensional implicit scene information and…
A trapping region is a compact set that is forward invariant with respect to the dynamics. Existence of a trapping region certifies boundedness of trajectories, and the size of the set provides an estimate of the ultimate bound. Prior work…
We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a concentric perimeter against $N\geq 2$ intruders. Upon…
We introduce a variant of the deterministic rendezvous problem for a pair of heterogeneous agents operating in an undirected graph, which differ in the time they require to traverse particular edges of the graph. Each agent knows the…
Temporal abstraction refers to the ability of an agent to use behaviours of controllers which act for a limited, variable amount of time. The options framework describes such behaviours as consisting of a subset of states in which they can…
Semantic security is considered with unreliable entanglement assistance, due to one of two reasons: Interception or loss. We consider two corresponding models. In the first model, Eve may intercept the entanglement resource. In the second…
Effective communication is an important skill for enabling information exchange and cooperation in multi-agent settings. Indeed, emergent communication is now a vibrant field of research, with common settings involving discrete cheap-talk…
In a wearable camera video, we see what the camera wearer sees. While this makes it easy to know roughly what he chose to look at, it does not immediately reveal when he was engaged with the environment. Specifically, at what moments did…
In this paper a convergent, nearest-neighbor, control protocol is suggested for agents with nontrivial dynamics. The protocol guarantees convergence to a common point in space even if each agent is restricted to communicate with a single…
The maximum surveillance of a target which is holding course is considered, wherein an observer vehicle aims to maximize the time that a faster target remains within a fixed-range of the observer. This entails two coupled phases: an…
We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…
Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…
Positioning and sensing over wireless networks are imperative for many emerging applications. However, since traditional wireless channel models over-simplify the user equipment (UE) as a point target, they cannot be used for sensing the…
Recent approaches for few-shot 3D point cloud semantic segmentation typically require a two-stage learning process, i.e., a pre-training stage followed by a few-shot training stage. While effective, these methods face overreliance on…
This paper studies a pursuit-evasion problem involving a single pursuer and a single evader, where we are interested in developing a pursuit strategy that doesn't require continuous, or even periodic, information about the position of the…
This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its…