Related papers: Mutual Support by Sensor-Attacker Team for a Passi…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
We consider the probabilistic planning problem where the agent (called Player 1, or P1) can jointly plan the control actions and sensor queries in a sensor network and an attacker (called player 2, or P2) can carry out attacks on the…
A fundamental task in mobile robotics is to keep an agent under surveillance using an autonomous robotic platform equipped with a sensing device. Using differential game theory, we study a particular setup of the previous problem. A…
We study a target coverage problem in which a team of sensing agents, operating under limited communication, must collaboratively monitor targets that may be adaptively repositioned by an attacker. We model this interaction as a zero-sum…
In this paper, a novel decentralized intelligent adaptive optimal strategy has been developed to solve the pursuit-evasion game for massive Multi-Agent Systems (MAS) under uncertain environment. Existing strategies for pursuit-evasion games…
This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…
We consider a two player game, where a first player has to install a surveillance system within an admissible region. The second player needs to enter the the monitored area, visit a target region, and then leave the area, while minimizing…
This paper addresses the motion planning problem for a team of aerial agents under high level goals. We propose a hybrid control strategy that guarantees the accomplishment of each agent's local goal specification, which is given as a…
Unmanned aerial vehicles (UAVs) have become increasingly prevalent in various domains, ranging from military operations to civilian applications. However, the proliferation of UAVs has also given rise to concerns regarding their potential…
This paper presents an algorithm to deploy a team of {\it free} guards equipped with omni-directional cameras for tracking a bounded speed intruder inside a simply-connected polygonal environment. The proposed algorithm partitions the…
In this paper, we revisit the two-player continuous-time infinite-horizon linear quadratic differential game problem, where one of the players can sample the state of the system only intermittently due to a sensing constraint while the…
This paper presents cooperative target defense guidance strategies using nonlinear model predictive control (NMPC) framework for a target-attacker-defender (TAD) game. The TAD game consists of an attacker and a cooperative target-defender…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…
In this paper, we propose a radio-based passive target tracking algorithm using multipath measurements, including the angle of arrival and relative distance. We focus on a scenario in which a mobile receiver continuously receives radio…
We consider the problem where a network of sensors has to detect the presence of targets at any of $n$ possible locations in a finite region. All such locations may not be occupied by a target. The data from sensors is fused to determine…
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains…
This paper proposes a theoretical framework for estimating a target-object shape, the location of which is not given, by using mobile distance sensors the locations of which are also unknown. Typically, mobile sensors are mounted on…
We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…
Pursuit-evasion games are ubiquitous in nature and in an artificial world. In nature, pursuer(s) and evader(s) are intelligent agents that can learn from experience, and dynamics (i.e., Newtonian or Lagrangian) is vital for the pursuer and…