Related papers: Mutual Support by Sensor-Attacker Team for a Passi…

In active visual tracking, it is notoriously difficult when distracting objects appear, as distractors often mislead the tracker by occluding the target or bringing a confusing appearance. To address this issue, we propose a mixed…

This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment region that is orbited by a slower pursuer with a nonzero…

In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…

In this paper, a time-optimal feedback solution to the game of two cars, for the case where the pursuer is faster and more agile than the evader, is presented. The concept of continuous subsets of the reachable set is introduced to…

We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express…

The problem is area-restricted search for targets using an autonomous mobile sensing platform. Detection is imperfect: the probability of detection depends on the range to the target, while the probability of false detections is non-zero.…

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as…

This paper studies a target-defense game played between a slow defender and a fast attacker. The attacker wins the game if it reaches the target while avoiding the defender's capture disk. The defender wins the game by preventing the…

We consider a surveillance-evasion game in an environment with obstacles. In such an environment, a mobile pursuer seeks to maintain the visibility with a mobile evader, who tries to get occluded from the pursuer in the shortest time…

We consider the probabilistic planning problem for a defender (P1) who can jointly query the sensors and take control actions to reach a set of goal states while being aware of possible sensor attacks by an adversary (P2) who has perfect…

Traditional game-theoretic research for security applications primarily focuses on the allocation of external protection resources to defend targets. This work puts forward the study of a new class of games centered around strategically…

We study the important problem of tracking moving targets in wireless sensor networks. We try to overcome the limitations of standard state of the art tracking methods based on continuous location tracking, i.e. the high energy dissipation…

This paper addresses a two-player target defense game in the $n$-dimensional Euclidean space where an attacker attempts to enter a closed convex target set while a defender strives to capture the attacker beforehand. We provide a complete…

We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. In the restricted version of the problem, we focus on assigning unique pairs of sensors to each…

This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…

We study the problem of tracking an object moving through a network of wireless sensors. In order to conserve energy, the sensors may be put into a sleep mode with a timer that determines their sleep duration. It is assumed that an asleep…

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.…

We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the…

We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…

This paper considers a reach-avoid differential game in three-dimensional space with four equal-speed players. A plane divides the game space into a play subspace and a goal subspace. The evader aims at entering the goal subspace while…