Related papers: Planar Herding of Multiple Evaders with a Single H…

Competition among cooperators, defectors, and loners is studied in an evolutionary prisoner's dilemma game with optional participation. Loners are risk averse i.e. unwilling to participate and rather rely on small but fixed earnings. This…

Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…

Herding defines a deterministic dynamical system at the edge of chaos. It generates a sequence of model states and parameters by alternating parameter perturbations with state maximizations, where the sequence of states can be interpreted…

In this paper, we consider a territory guarding game involving pursuers, evaders and a target in an environment that contains obstacles. The goal of the evaders is to capture the target, while that of the pursuers is to capture the evaders…

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…

We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. The intruders' objective is to breach the target boundary without being captured by the defender. As soon as…

This paper presents a multiplayer Homicidal Chauffeur reach-avoid differential game, which involves Dubins-car pursuers and simple-motion evaders. The goal of the pursuers is to cooperatively protect a planar convex region from the evaders,…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

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…

The classic Homicidal Chauffeur game is a pursuit-evasion game played in an unbounded planar environment between a pursuer constrained to move with fixed speed on curves with bounded curvature, and a slower evader with fixed speed but with…

We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…

Pursuit-evasion scenarios appear widely in robotics, security domains, and many other real-world situations. We focus on two-player pursuit-evasion games with concurrent moves, infinite horizon, and discounted rewards. We assume that the…

This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…

We propose a minimal model of predator-swarm interactions which captures many of the essential dynamics observed in nature. Different outcomes are observed depending on the predator strength. For a "weak" predator, the swarm is able to…

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…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

We consider the following generalization of the classical pursuit-evasion problem, which we call k-capture. A group of n pursuers (hyenas) wish to capture an evader (lion) who is free to move in an m-dimensional Euclidean space, the…

We address the question of an averaging principle for a general class of multi-scale hybrid predator-prey models. We consider prey-predator models where the kinetic of the prey population, described by a differential equation, is faster…

A defender-attacker-target problem with non-moving target is considered. This problem is modeled by a pursuit-evasion zero-sum differential game with linear dynamics and quadratic cost functional. In this game the pursuer is the defender,…

We consider a scenario where a team of two unmanned aerial vehicles (UAVs) pursue an evader UAV within an urban environment. Each agent has a limited view of their environment where buildings can occlude their field-of-view. Additionally,…