Related papers: A Game Between Two Identical Dubins Cars: Evading …
In network interdiction problems, evaders (e.g., hostile agents or data packets) may be moving through a network towards targets and we wish to choose locations for sensors in order to intercept the evaders before they reach their…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop control laws that bring the system to a desired position and…
A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…
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…
Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…
This paper studies a variant of multi-player reach-avoid game played between intruders and defenders. The intruder team tries to score by sending as many intruders as possible to the target area, while the defender team tries to minimize…
Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
A resilient multi-vehicle system cooperatively performs tasks by exchanging information, detecting, and removing cyber attacks that have the intent of hijacking or diminishing performance of the entire system. In this paper, we propose a…
Robots playing games that humans are adept in is a challenge. We studied robotic agents playing Chain Catch game as a Multi-Agent System (MAS). Our game starts with a traditional Catch game similar to Pursuit evasion, and further extends it…
This paper presents a novel planning and control strategy for competing with multiple vehicles in a car racing scenario. The proposed racing strategy switches between two modes. When there are no surrounding vehicles, a learning-based model…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
The 'Cheating Robot' version of Cops and Robbers is played on a finite, simple, connected graph. The players move in the same time period. However, before moving, the robot observes to which vertices the cops are moving and it is fast…
This paper is concerned with a Minimum-Time Intercept Problem (MTIP), for which a Dubins vehicle is guided from a position with a prescribed initial orientation angle to intercept a moving target in minimum time. Some geometric properties…
Your task is to detect a submarine with your active sonar. The submarine can hear your active sonar before you can detect him. If the submarine is fast enough he can evade you before you can detect him. How do you then detect him? If you…
This paper addresses the problem of active collaborative localization in heterogeneous robot teams with unknown data association. It involves positioning a small number of identical unmanned ground vehicles (UGVs) at desired positions so…
Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…