Related papers: A Game Between Two Identical Dubins Cars: Evading …
Operating vehicles in adversarial environments between a recurring origin-destination pair requires new planning techniques. A two players zero-sum game is introduced. The goal of the first player is to minimize the expected casualties…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
This paper considers a differential game approach to the predecessor-following vehicle platoon control problem without and with collision avoidance. In this approach, each vehicle tries to minimize the performance index (PI) of its control…
In this paper, we present a game-theoretic feedback terminal guidance law for an autonomous, unpowered hypersonic pursuit vehicle that seeks to intercept an evading ground target whose motion is constrained in a one-dimensional space. We…
Two-player pursuit-evasion differential game and time optimal zero control problem in $\ell^2$ are considered. Optimal control for the corresponding zero control problem is found. A strategy for the pursuer that guarantees the solution for…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
We present a novel algorithm for game-theoretic trajectory planning, tailored for settings in which agents can only observe one another in specific regions of the state space. Such problems arise naturally in the context of multi-robot…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
An important feature of a dynamic game is its monitoring structure namely, what the players effectively see from the played actions. We consider games with arbitrary monitoring structures. One of the purposes of this paper is to know to…
Suppose an unpredictable evader is free to move around in a polygonal environment of arbitrary complexity that is under full camera surveillance. How many pursuers, each with the same maximum speed as the evader, are necessary and…
In the present work, control of time-optimal trajectory for a Dubins airplane in presence of moving and fixed obstacles is obtained. We show that for a Dubins airplane with an initial position, the control variable can be obtained using the…
Autonomous coverage of a specified area by robots operating in close proximity with each other has many potential applications such as real-time monitoring of rapidly changing environments, and search and rescue; however, coordination and…
Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…
We present a guidance by repulsion model based on a driver-evader interaction where the driver, assumed to be faster than the evader, follows the evader but cannot be arbitrarily close to it, and the evader tries to move away from the…
In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are considered to describe the vehicle's motion. The primary…
Distributed evacuation of mobile robots is a recent development. We consider the evacuation problem of two robots which are initially located at the center of a unit disk. Both the robots have to evacuate the disk through the exits situated…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
The isoline tracking of this work is concerned with the control design for a sensing vehicle to track a desired isoline of an unknown scalar field. To this end, we propose a simple PI-like controller for a Dubins vehicle in the GPS-denied…
Avoiding collisions between obstacles and vehicles such as cars, robots or aircraft is essential to the development of automation and autonomy. To simplify the problem, many collision avoidance algorithms and proofs consider vehicles to be…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…