Related papers: Planar Herding of Multiple Evaders with a Single H…
We study a simple motion differential game of many pursuers and one evader in the plane. We give a nonempty closed convex set in the plane, and the pursuers and evader move on this set. They cannot leave this set during the game. Control…
Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor…
Consider a given planar circular region, in which there is an unknown number of smart mobile evaders. We wish to detect evaders using a line formation of sweeping agents whose total sensing length is predetermined. We propose procedures for…
This paper investigates obstacle-free simple motion pursuit-evasion problems where the pursuer is faster and game termination is point capture. It is well known that the interior of the Apollonius Circle (AC) is the evader's dominance…
This paper considers an M-pursuer N-evader scenario involving virtual targets. The virtual targets serve as an intermediary target for the pursuers, allowing the pursuers to delay their final assignment to the evaders. However, upon…
This paper studies a pursuit-evasion problem involving a single pursuer and a single evader, where we are interested in developing a pursuit strategy that doesn't require continuous, or even periodic, information about the position of the…
A new surveillance-evasion differential game is posed and solved in which an agile pursuer (the prying pedestrian) seeks to remain within a given surveillance range of a less agile evader that aims to escape. In contrast to previous…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
We study pursuit-evasion in a polygonal environment with polygonal obstacles. In this turn based game, an evader $e$ is chased by pursuers $p_1, p_2, ..., p_{\ell}$. The players have full information about the environment and the location…
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,…
This paper presents a novel control strategy to herd groups of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous…
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…
The game of Cat Herding is one in which cat and herder players alternate turns, with the evasive cat moving along non-trivial paths between vertices, and the herder deleting single edges from the graph. Eventually the cat cannot move, and…
The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…
We study a pursuit-evasion differential game with finite number of pursuers and one evader in Hilbert space with geometric constraints on the control functions of players. We solve the game by presenting explicit strategies for pursuers…
In classical works on a planar differential pursuit-evasion game with a faster pursuer, the intercept point resulting from the equilibrium strategies lies on the Apollonius circle. This property was exploited for the construction of the…
Pursuit-evasion is a multi-agent sequential decision problem wherein a group of agents known as pursuers coordinate their traversal of a spatial domain to locate an agent trying to evade them. Pursuit evasion problems arise in a number of…
This paper investigates the difference between the circular and elliptical cases in one-on-one pursuit and evasion problems. Using the simultaneous differential equation derived by Barton and Eliezer, we derive a dynamical system based on…
Suppose in a given planar region, there are smart mobile evaders and we want to detect them using sweeping agents. We assume that the agents have line sensors of equal length. We propose procedures for designing cooperative sweeping…