Related papers: Cooperative Target Capture using Voronoi Region Sh…

The challenge of efficient target searching in vast natural environments has driven the need for advanced multi-UAV active search strategies. This paper introduces a novel method in which global and local information is adeptly merged to…

We consider a problem of cooperative evasion between a single pursuer and multiple evaders in which the evaders are constrained to move in the positive Y direction. The evaders are slower than the vehicle and can choose their speeds from a…

This paper presents a novel strategy for a multi-agent pursuit-evasion game involving multiple faster pursuers with heterogenous speeds and a single slower evader. We define a geometric region, the evader's safe-reachable set, as the…

This study proposes an innovative approach to analyze spatial patterns of behavior by integrating information in weighted Voronoi diagrams. The objective of the research is to analyze the temporal distribution of an experimental subject in…

This paper presents a leaderless cooperative guidance strategy for simultaneous time-constrained interception of a stationary target when the interceptors exchange information over switched dynamic graphs. We specifically focus on scenarios…

Consider a team with two types of agents: targets and observers. Observers are aerial UAVs that observe targets moving on land with their movements restricted to the paths that form a planar graph on the surface. Observers have limited…

The optimal cooperative guidance in the nonlinear setting for intercepting a target by multiple pursuers is studied in the paper. As certain relative angles can improve observability, the guidance command is required to cooperatively…

This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the…

This article addresses how diverse collective behaviors arise from simple and realistic decisions made entirely at the level of each agent's personal space in the sense of the Voronoi diagram. We present a discrete time model in 2D in which…

This paper presents a novel approach to the analysis of spatial behavior distribution, utilizing weighted Voronoi diagrams. The objective is to map and understand how an experimental subject moves and spends time in various areas of a given…

A cooperative salvo strategy is proposed in this paper which achieves consensus among the interceptors within a pre-defined arbitrary settling time. Considering non-linear engagement kinematics and a system lag to capture the effect of…

A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…

MAV-capturing-MAV (MCM) is one of the few effective methods for physically countering misused or malicious MAVs.This paper presents a vision-based cooperative MCM system, where multiple pursuer MAVs equipped with onboard vision systems…

Multi-robot systems have increasingly become instrumental in tackling search and coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive,…

This paper presents a cooperative guidance strategy for the simultaneous interception of a constant-velocity, non-maneuvering target, addressing the realistic scenario where only a subset of interceptors are equipped with onboard seekers.…

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…

This paper studies the problem of multi-robot pursuit of how to coordinate a group of defending robots to capture a faster attacker before it enters a protected area. Such operation for defending robots is challenging due to the unknown…

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…

Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…