Related papers: A Game Between Two Identical Dubins Cars: Evading …
This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero…
We study a variant of pursuit-evasion game in the context of perimeter defense. In this problem, the intruder aims to reach the base plane of a hemisphere without being captured by the defender, while the defender tries to capture the…
Traffic scenarios are inherently interactive. Multiple decision-makers predict the actions of others and choose strategies that maximize their rewards. We view these interactions from the perspective of game theory which introduces various…
This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
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…
Different applications, such as environmental monitoring and military operations, demand the observation of predefined target locations, and an autonomous mobile robot can assist in these tasks. In this context, the Orienteering Problem…
Robots deployed in real-world environments should operate safely in a robust manner. In scenarios where an "ego" agent navigates in an environment with multiple other "non-ego" agents, two modes of safety are commonly proposed --…
Assume that inside an initial planar area there are smart mobile evaders attempting to avoid detection by a team of sweeping searching agents. All sweepers detect evaders with fan-shaped sensors, modeling the field of view of real cameras.…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a…
The cops-and-robber (CR) game has been used in mobile robotics as a discretized model (played on a graph G) of pursuit/evasion problems. The "classic" CR version is a perfect information game: the cops' (pursuer's) location is always known…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…
Suppose an escaping player ("human") moves continuously at maximum speed $1$ in the interior of a region, while a pursuing player ("zombie") moves continuously at maximum speed $r$ outside the region. For what $r$ can the first player…
Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on…
There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
We propose a combination of a bounding procedure and gradient descent method for solving the Dubins traveling salesman problem, that is, the problem of finding a shortest curvature-constrained tour through a finite number of points in 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…
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…