Related papers: Shepherd Grid Strategy: Towards Reliable SWARM Int…
Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
Robotic shepherding is a bio-inspired approach to autonomously guiding a swarm of agents towards a desired location. The research area has earned increasing research interest recently due to the efficacy of controlling a large number of…
The shepherding problem refers to guiding a group of agents (called sheep) to a specific destination using an external agent with repulsive forces (called shepherd). Although various movement algorithms for the shepherd have been explored…
This paper presents a novel control strategy for multi-agent shepherding of non-cohesive targets in obstacle-rich environments. Unlike previous approaches that assume cohesive flocking behavior, our method handles targets that interact only…
This paper presents a multi-mode solution to the problem of defending a circular protected area (target) from a wide range of attacks by swarms of risk-taking and/or risk-averse attacking agents (attackers). The proposed multi-mode solution…
Modern adversarial campaigns unfold as sequences of behavioural phases - Reconnaissance, Lateral Movement, Intrusion, and Exfiltration - each often indistinguishable from legitimate traffic when viewed in isolation. Existing intrusion…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
In this paper, an adaptive cooperative guidance strategy for the active protection of a target spacecraft trying to evade an interceptor was developed. The target spacecraft performs evasive maneuvers, launching an active defense vehicle to…
Autonomous modeling of artificial swarms is necessary because manual creation is a time intensive and complicated procedure which makes it impractical. An autonomous approach employing deep reinforcement learning is presented in this study…
The control and guidance of multi-robots (swarm) is a non-trivial problem due to the complexity inherent in the coupled interaction among the group. Whether the swarm is cooperative or non-cooperative, lessons can be learnt from sheepdogs…
Robotic shepherding problem considers the control and navigation of a group of coherent agents (e.g., a flock of bird or a fleet of drones) through the motion of an external robot, called shepherd. Machine learning based methods have…
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…
Shepherding involves herding a swarm of agents (\emph{sheep}) by another a control agent (\emph{sheepdog}) towards a goal. Multiple approaches have been documented in the literature to model this behaviour. In this paper, we present a…
The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
In swarm robotics, confrontation including the pursuit-evasion game is a key scenario. High uncertainty caused by unknown opponents' strategies, dynamic obstacles, and insufficient training complicates the action space into a hybrid…
Multi-agent pursuit-evasion tasks involving intelligent targets are notoriously challenging coordination problems. In this paper, we investigate new ways to learn such coordinated behaviors of unmanned aerial vehicles (UAVs) aimed at…
With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…