Related papers: A Dynamic Programming Approach to Evader Pathfindi…
Active Directory is the default security management system for Windows domain networks. We study the shortest path edge interdiction problem for defending Active Directory style attack graphs. The problem is formulated as a Stackelberg game…
We consider an autonomous navigation problem, whereby a traveler aims at traversing an environment in which an adversary tries to set an ambush. A two players zero sum game is introduced. Players' strategies are computed as random path…
Path finding is a well-studied problem in AI, which is often framed as graph search. Any-angle path finding is a technique that augments the initial graph with additional edges to build shorter paths to the goal. Indeed, optimal algorithms…
Shortest path network interdiction is a combinatorial optimization problem on an activity network arising in a number of important security-related applications. It is classically formulated as a bilevel maximin problem representing an…
We propose a decentralized solution for a pursuit-evasion game involving a heterogeneous group of rational (selfish) pursuers and a single evader based on the framework of potential games. In the proposed game, the evader aims to delay (or,…
This document presents an Integer Linear Programming (ILP) approach to optimize pedestrian evacuation in flood-prone historic urban areas. The model aims to minimize total evacuation cost by integrating pedestrian speed, route length, and…
Efficiently planning an Unmanned Aerial Vehicle (UAV) path is crucial, especially in dynamic settings where potential threats are prevalent. A Dynamic Path Planner (DPP) for UAV using the Spherical Vector-based Particle Swarm Optimisation…
Continuing our preleminary work \cite{knowles14}, we define the safest-with-sight pathfinding problems and explore its solution using techniques borrowed from measure-theoretic probability theory. We find a simple recursive definition for…
Path-planning for autonomous vehicles in threat-laden environments is a fundamental challenge. While traditional optimal control methods can find ideal paths, the computational time is often too slow for real-time decision-making. To solve…
We describe an approximate dynamic programming (ADP) approach to compute approximations of the optimal strategies and of the minimal losses that can be guaranteed in discounted repeated games with vector-valued losses. Such games…
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…
Although dynamic games provide a rich paradigm for modeling agents' interactions, solving these games for real-world applications is often challenging. Many real-world interactive settings involve general nonlinear state and input…
Exploration in dynamic and uncertain real-world environments is an open problem in robotics and constitutes a foundational capability of autonomous systems operating in most of the real world. While 3D exploration planning has been…
Robots deployed in real-world environments should operate safely in a robust manner. In scenarios where an "ego" agent navigates in an environment with multiple other "non-ego" agents, two modes of safety are commonly proposed --…
This paper presents a novel extended dynamic programming approach for energy minimization (EDP) to solve the correspondence problem for stereo and motion. A significant speedup is achieved using a recursive minimum search strategy (RMS).…
A new surveillance-evasion differential game is posed and solved in which an agile pursuer (the prying pedestrian) seeks to remain within a given surveillance range of a less agile evader that aims to escape. In contrast to previous…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
In this paper, we introduce a trajectory planning problem for a marsupial robotics system consisting of a ground robot, a drone, and a taut tether of bounded length connecting the two robots. This problem can be framed within the context of…
This paper studies a class of approach-evasion differential games, in which one player aims to steer the state of a dynamic system to the given target set in minimum time, while avoiding some set of disallowed states, and the other player…