Related papers: Pursuit Winning Strategies for Reach-Avoid Games w…
The interdiction of escaping adversaries in urban networks is a critical security challenge. State-of-the-art game-theoretic models, such as the Escape Interdiction Game (EIG), provide comprehensive frameworks but assume a highly dynamic…
Visibility plays an important role for decision making in cluttered, uncertain environments. This paper considers the problem of identifying optimal hiding spots for an agent against line-of-sight detection by an adversary whose location is…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
Many security and other real-world situations are dynamic in nature and can be modelled as strictly competitive (or zero-sum) dynamic games. In these domains, agents perform actions to affect the environment and receive observations --…
Curve-straight probabilistic engagement zones (CSPEZ) quantify the spatial regions an evader should avoid to reduce capture risk from a turn-rate-limited pursuer following a curve-straight path with uncertain parameters including position,…
We consider "Containment": a variation of the graph pursuit game of Cops and Robber in which cops move from edge to adjacent edge, the robber moves from vertex to adjacent vertex (but cannot move along an edge occupied by a cop), and the…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
This paper considers for the first time pursuit-evasion (PE) differential games with irrational perceptions of both pursuer and evader on probabilistic characteristics of environmental uncertainty. Firstly, the irrational perceptions of…
In an Avoider-Enforcer game, we are given a hypergraph. Avoider and Enforcer alternate in claiming an unclaimed vertex, until all the vertices of the hypergraph are claimed. Enforcer wins if Avoider claims all vertices of an edge; Avoider…
We consider a variant of the hide-and-seek game in which a seeker inspects multiple hiding locations to find multiple items hidden by a hider. Each hiding location has a maximum hiding capacity and a probability of detecting its hidden…
A geometric approach to differential game theory is illustrated. The parallel pursuit is considered as a two-player zero-sum differential game. The optimal strategies of each player is designed based on Riemann-Finsler geometry. Our…
Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…
We consider finite horizon reach-avoid problems for discrete time stochastic systems. Our goal is to construct upper bound functions for the reach-avoid probability by means of tractable convex optimization problems. We achieve this by…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
We consider the problem of obtaining sparse positional strategies for safety games. Such games are a commonly used model in many formal methods, as they make the interaction of a system with its environment explicit. Often, a winning…
This work explores a variation of the art gallery problem in which a team of static and mobile guards track a mobile intruder with unknown maximum speed. First, we present an algorithm to identify {\it candidate vertices} in a polygon at…
Various popular multiplayer battle royale games share a lot of common elements. Drawing from our observations, we summarized these shared characteristics and subsequently proposed a novel heuristic algorithm named multiplayer battle…
A watchman path is a path such that a direct line of sight exists between each point in some region and some point along the path. Here, we study the online watchman path problem outside a convex polygon, i.e., in $\mathbb{R}^2\setminus…
A fundamental task in mobile robotics is to keep an agent under surveillance using an autonomous robotic platform equipped with a sensing device. Using differential game theory, we study a particular setup of the previous problem. A…
In the Avoider-Enforcer convention of positional games, two players, Avoider and Enforcer, take turns selecting vertices from a hypergraph H. Enforcer wins if, by the time all vertices of H have been selected, Avoider has completely filled…