Related papers: Optimal Evasion from a Sensing-Limited Pursuer
This paper introduces a novel reachability problem for the scenario involving two agents, where one agent follows another agent using a feedback strategy. The geometry of the reachable set for an agent, termed \emph{dependent reachable…
There has been substantial progress on finding game-theoretic equilibria. Most of that work has focused on games with finite, discrete action spaces. However, many games involving space, time, money, and other fine-grained quantities have…
In this paper we consider stopping problems with partial observation under a general risk-sensitive optimization criterion for problems with finite and infinite time horizon. Our aim is to maximize the certainty equivalent of the stopping…
Estimator algorithms in learning automata are useful tools for adaptive, real-time optimization in computer science and engineering applications. This paper investigates theoretical convergence properties for a special case of estimator…
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…
This paper presents an adaptive lookahead pure-pursuit lateral controller for optimizing racing metrics such as lap time, average lap speed, and deviation from a reference trajectory in an autonomous racing scenario. We propose a greedy…
We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…
This paper investigates the pursuit-evasion problem of a defensive gun turret and one or more attacking drones. The turret must ``visit" each attacking drone once, as quickly as possible, to defeat the threat. This constitutes a Shortest…
An insider is a team member who covertly deviates from the team's optimal collaborative strategy to pursue a private objective while still appearing cooperative. Such an insider may initially behave cooperatively but later switch to selfish…
The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…
In this paper we present an optimal control approach modeling fast exit scenarios in pedestrian crowds. In particular we consider the case of a large human crowd trying to exit a room as fast as possible. The motion of every pedestrian is…
In this paper, we consider a territory guarding game involving pursuers, evaders and a target in an environment that contains obstacles. The goal of the evaders is to capture the target, while that of the pursuers is to capture the evaders…
Imagine a tracking agent $P$ who wants to follow a moving target $Q$ in $d$-dimensional Euclidean space. The tracker has access to a noisy location sensor that reports an estimate $\tilde{Q}(t)$ of the target's true location $Q(t)$ at time…
This study presents a numerical analysis framework for pursuit--evasion differential games under the Stackelberg equilibrium. The Semi-DCNLP method is introduced as an optimization solver for flight path optimization problems formulated…
This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…
We study the problem of sensor scheduling for an intrusion detection task. We model this as a two-player zero-sum game over a graph, where the defender (Player 1) seeks to identify the optimal strategy for scheduling sensor orientations to…
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…
We consider the classic motion planning problem defined over a roadmap in which a vehicle seeks to find an optimal path from a source to a destination in presence of an attacker who can launch attacks on the vehicle over any edge of the…
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 studies an attacker against a cyber-physical system (CPS) whose goal is to move the state of a CPS to a target state while ensuring that his or her probability of being detected does not exceed a given bound. The attacker's…