Related papers: One-vs-one Threat-Aware Weaponeering with Basic En…
In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simple motion, four potential approaches are considered. First,…
Navigating teams of unmanned vehicles through environments containing dynamic, adversarial Weapon Engagement Zones~(WEZs) poses a fundamental challenge to mission success: a single vehicle, however capable its onboard guidance, remains a…
This work derives two basic engagement zone models, describing regions of potential risk or capture for a mobile vehicle by a pursuer. The pursuer is modeled as having turn-constraints rather than simple motion. Turn-only (C-Paths) and…
This paper establishes a more formal definition for an Engagement Zone (EZ) and derives some basic EZs associated with fundamental engagement models associated with pursuit-evasion and turret-evasion. The basic EZs presented in this paper…
Curve-straight probabilistic engagement zones (CSPEZ) quantify the spatial regions an evader should avoid to reduce capture risk from a turn-rate-limited pursuer following a curve-straight path with uncertain parameters including position,…
Existing methods for avoiding dynamic engagement zones (EZs) and minimizing risk leverage the calculus of variations to obtain optimal paths. While such methods are deterministic, they scale poorly as the number of engagement zones…
We address target interception in contested environments in the presence of multiple defenders whose interception capability is limited by finite ranges. Conventional methods typically impose conservative stand-off constraints based on…
There are many situations where vehicles may compete with each other to maximize their respective utilities.We consider a narrow alley where two groups, eastbound and westbound, of autonomous vehicles are heading toward each of their…
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…
Surface-to-Air Missiles (SAMs) are crucial in modern air defense systems. A critical aspect of their effectiveness is the Engagement Zone (EZ), the spatial region within which a SAM can effectively engage and neutralize a target. Notably,…
Autonomous Vehicles (AVs), especially vision-based AVs, are rapidly being deployed without human operators. As AVs operate in safety-critical environments, understanding their robustness in an adversarial environment is an important…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
Autonomous racing represents a uniquely challenging control environment where agents must act while on the limits of a vehicle's capability in order to set competitive lap times. This places the agent on a knife's edge, with a very small…
We exhibit optimal control strategies for a simple toy problem in which the underlying dynamics depend on a parameter that is initially unknown and must be learned. We consider a cost function posed over a finite time interval, in contrast…
This paper proposes a novel framework for autonomous drone navigation through a cluttered environment. Control policies are learnt in a low-level environment during training and are applied to a complex environment during inference. The…
Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
The task of rendezvous (also called {\em gathering}) calls for a meeting of two or more mobile entities, starting from different positions in some environment. Those entities are called mobile agents or robots, and the environment can be a…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
Two mobile agents, starting at arbitrary, possibly different times from arbitrary nodes of an unknown network, have to meet at some node. Agents move in synchronous rounds: in each round an agent can either stay at the current node or move…