Related papers: A Dynamical Trap Made of Target-Tracking Chasers
An important goal for swarming research is to create methods for predicting, controlling and designing swarms, which produce collective dynamics that solve a problem through emergent and stable pattern formation, without the need for…
Nowadays there is a growing research interest on the possibility of enriching small flying robots with autonomous sensing and online navigation capabilities. This will enable a large number of applications spanning from remote surveillance…
In this paper, we address the task of interacting with dynamic environments where the changes in the environment are independent of the agent. We study this through the context of trapping a moving ball with a UR5 robotic arm. Our key…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
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…
Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…
In this paper, we investigate a sequential dynamic team problem consisting of two agents with a nested information structure. We use a combination of the person-by-person and prescription approach to derive structural results for optimal…
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…
This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in…
We consider a human-assisted autonomy sensor fusion for dynamic target localization in a Bayesian framework. Autonomous sensor-based tracking systems can suffer from observability and target detection failure. Humans possess valuable…
We construct binary dynamic traitor tracing schemes, where the number of watermark bits needed to trace and disconnect any coalition of pirates is quadratic in the number of pirates, and logarithmic in the total number of users and the…
We consider a variant of pursuit-evasion games where a single defender is tasked to defend a static target from a sequence of periodically arriving intruders. The intruders' objective is to breach the boundary of a circular target without…
This work proposes a novel distributed control framework in which a team of pursuer agents equipped with a radio jamming device cooperate in order to track and radio-jam a rogue target in 3D space, with the ultimate purpose of disrupting…
This paper deals with controllability of dynamical networks. It is often unfeasible or unnecessary to fully control large-scale networks, which motivates the control of a prescribed subset of agents of the network. This specific form of…
The task of searching for and tracking of multiple targets is a challenging one. However, most works in this area do not consider evasive targets that move faster than the agents comprising the multi-robot system. This is due to the…
The survival chance of a prey chased by a predator depends not only on their relative speeds but importantly also on the local environment they have to face. For example, a wolf chasing a deer might take a long time to cross a river which…
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…
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics…
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…
A fundamental component of modern trackers is an online learned tracking model, which is typically modeled either globally or locally. The two kinds of models perform differently in terms of effectiveness and robustness under different…