Related papers: Pursuit Winning Strategies for Reach-Avoid Games w…
Equilibrium learning in adversarial games is an important topic widely examined in the fields of game theory and reinforcement learning (RL). Pursuit-evasion game (PEG), as an important class of real-world games from the fields of robotics…
While using shaped rewards can be beneficial when solving sparse reward tasks, their successful application often requires careful engineering and is problem specific. For instance, in tasks where the agent must achieve some goal state,…
We propose a hybrid approach that combines Hamilton-Jacobi (HJ) reachability and mixed-integer optimization for solving a reach-avoid game with multiple attackers and defenders. The reach-avoid game is an important problem with potential…
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…
This paper introduced a pursuit and evasion game to be played on a connected graph. One player moves invisibly around the graph, and the other player must guess his position. At each time step the second player guesses a vertex, winning if…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…
The classic Homicidal Chauffeur game is a pursuit-evasion game played in an unbounded planar environment between a pursuer constrained to move with fixed speed on curves with bounded curvature, and a slower evader with fixed speed but with…
In this work we present a hierarchical framework for solving discrete stochastic pursuit-evasion games (PEGs) in large grid worlds. With a partition of the grid world into superstates (e.g., "rooms"), the proposed approach creates a…
This paper considers a subspace guarding game in high-dimensional space which consists of a play subspace and a target subspace. Two faster defenders cooperate to protect the target subspace by capturing an attacker which strives to enter…
In the Target-Attacker-Defender (TAD) differential game, an Attacker missile strives to capture a Target aircraft. The Target tries to escape the Attacker and is aided by a Defender missile which aims at intercepting the Attacker before the…
The classical setting of optimal control theory assumes full knowledge of the process dynamics and the costs associated with every control strategy. The problem becomes much harder if the controller only knows a finite set of possible…
Projection games constitute an important class of nonlocal games where, for any answer from the first player, there is a unique correct answer for the second player. This class of games captures nonlocal games arising from constraint…
In this paper, a time-optimal feedback solution to the game of two cars, for the case where the pursuer is faster and more agile than the evader, is presented. The concept of continuous subsets of the reachable set is introduced to…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
This paper investigates a reach-avoid game between two players with damped double integrator dynamics. An optimal state-feedback strategy is derived using a differential game framework combined with geometric analysis. To facilitate the…
We consider a variant of the target defense problem in a planar conical environment where a single defender is tasked to capture a sequence of incoming attackers. The attackers' objective is to breach the target boundary without being…
Computing worst-case robust strategies in pursuit-evasion games (PEGs) is time-consuming, especially when real-world factors like partial observability are considered. While important for general security purposes, real-time applicable…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
This letter employs differential game theory to address the defense problem of a circular target area with perception constraints, involving a single defender and a single attacker. The defender is restricted to moving along the perimeter,…