Related papers: Mutual Support by Sensor-Attacker Team for a Passi…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
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…
The security in networked systems depends greatly on recognizing and identifying adversarial behaviors. Traditional detection methods focus on specific categories of attacks and have become inadequate for increasingly stealthy and deceptive…
In this paper, we consider a target defense game in which the attacker team seeks to reach a high-value target while the defender team seeks to prevent that by capturing them away from the target. To address the curse of dimensionality, a…
A multiplayer reach-avoid game is a differential game between an attacking team with NA attackers and a defending team with ND defenders playing on a compact domain with obstacles. The attacking team aims to send M of the NA attackers to…
A group of cooperative aerial robots can be deployed to efficiently patrol a terrain, in which each robot flies around an assigned area and shares information with the neighbors periodically in order to protect or supervise it. To ensure…
This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…
Recent research has shown that surprisingly rich models of human activity can be learned from GPS (positional) data. However, most effort to date has concentrated on modeling single individuals or statistical properties of groups of people.…
In mobile robotics and autonomous driving, it is natural to model agent interactions as the Nash equilibrium of a noncooperative, dynamic game. These methods inherently rely on observations from sensors such as lidars and cameras to…
We design a controller for an agent whose mission is to reach a stationary target while avoiding a family of obstacles which are not known a-priori. The agent moves in the two dimensional plane with non-trivial double integrator dynamics…
We consider a search and rescue game introduced recently by the first author. An immobile target or targets (for example, injured hikers) are hidden on a graph. The terrain is assumed to dangerous, so that when any given vertex of the graph…
Consider a consensus-driven multi-agent dynamic system. The interaction range, which defines the set of neighbors for each agent, plays a key role in influencing connectivity of the underlying network. In this paper, we assume the system is…
This paper studies a novel encirclement guaranteed cooperative pursuit problem involving $N$ pursuers and a single evader in an unbounded two-dimensional game domain. Throughout the game, the pursuers are required to maintain encirclement…
Target following in dynamic pedestrian environments is an important task for mobile robots. However, it is challenging to keep tracking the target while avoiding collisions in crowded environments, especially with only one robot. In this…
This article considers the design and analysis of multiple moving target defenses for recognizing and isolating attacks on cyber-physical systems. We consider attackers who perform integrity attacks on a set of sensors and actuators in a…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
We address the problem of detecting and mitigating the effect of malicious attacks to the sensors of a linear dynamical system. We develop a novel, efficient algorithm that uses a Satisfiability-Modulo-Theory approach to isolate the…
This paper considers a scenario of pursuing a moving target that may switch behaviors due to external factors in a dynamic environment by motion estimation using visual sensors. First, we present an improved Visual Motion Observer with…
In the standard setting of approachability there are two players and a target set. The players play repeatedly a known vector-valued game where the first player wants to have the average vector-valued payoff converge to the target set which…
By using directional distance sensors that have unknown locations, this paper proposes a method of estimating the shape of a location-unknown target object $T$ moving with unknown speed on an unknown straight line trajectory. Regardless of…