Related papers: Planar Herding of Multiple Evaders with a Single H…
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…
In this paper an N-pursuer vs. M-evader team conflict is studied. The differential game of border defense is addressed and we focus on the game of degree in the region of the state space where the pursuers are able to win. This work extends…
The interdiction problem arises in a variety of areas including military logistics, infectious disease control, and counter-terrorism. In the typical formulation of network interdiction, the task of the interdictor is to find a set of edges…
This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…
We propose a novel cooperative herding strategy through backstepping control barrier functions (CBFs), which coordinates multiple herders to herd a group of evaders safely towards a designated goal region. For the herding system with…
Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that the sweeping agents are in a line formation whose total length is 2r. We propose…
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…
This report studies the emergent behavior of systems of agents performing cyclic pursuit controlled by an external broadcast signal detected by a random set of the agents. Two types of cyclic pursuit are analyzed: 1)linear cyclic pursuit,…
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.…
This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…
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 paper studies a planar multiplayer Homicidal Chauffeur reach-avoid differential game, where each pursuer is a Dubins car and each evader has simple motion. The pursuers aim to protect a goal region cooperatively from the evaders. Due…
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…
Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…
We consider surveillance-evasion differential games, where a pursuer must try to constantly maintain visibility of a moving evader. The pursuer loses as soon as the evader becomes occluded. Optimal controls for game can be formulated as a…
A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the…
We present preliminary results on the problem of driving the dynamics of a group of agents, the herders, so as to steer the collective behaviour of another group of agents, the targets, interacting with them. We define this problem as the…
We consider a variant of the target defense problem in a planar conical environment where a single defender is tasked to capture a sequence of incoming attackers. The attackers' objective is to breach the target boundary without being…
We study the shepherding control problem where a group of "herders" need to orchestrate their collective behaviour in order to steer the dynamics of a group of "target" agents towards a desired goal. We relax the strong assumptions of…
Shortest path network interdiction is a combinatorial optimization problem on an activity network arising in a number of important security-related applications. It is classically formulated as a bilevel maximin problem representing an…