Related papers: A Dynamical Trap Made of Target-Tracking Chasers

We propose an approach to online model adaptation and control in the challenging case of hybrid and discontinuous dynamics where actions may lead to difficult-to-escape "trap" states, under a given controller. We first learn dynamics for a…

We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…

Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…

The properties of biological microswimmers are to a large extent determined by fluid-mediated interactions, which govern their propulsion, perception of their surrounding, and the steering of their motion for feeding or in pursuit.…

One of the main challenges of multi-agent learning lies in establishing convergence of the algorithms, as, in general, a collection of individual, self-serving agents is not guaranteed to converge with their joint policy, when learning…

Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…

We consider a problem of cooperative evasion between a single pursuer and multiple evaders in which the evaders are constrained to move in the positive Y direction. The evaders are slower than the vehicle and can choose their speeds from a…

We propose a system that uses video as the input to track the position of objects relative to their surrounding environment in real-time. The neural network employed is trained on a 100% synthetic dataset coming from our own automated…

Visual multi-object tracking has the potential to accelerate many forms of quantitative analyses, especially in research communities investigating the motion, behavior, or social interactions within groups of animals. Despite its potential…

Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…

Social tipping points are promising levers to achieve net-zero greenhouse gas emission targets. They describe how social, political, economic or technological systems can move rapidly into a new state if cascading positive feedback…

Microorganisms ofter move in confined, disordered environments, where hydrodynamic couplings can modify their transport behavior. Using extensive finite-element simulations, we investigate the dynamics of microswimmers -- modeled as…

This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly…

Most of the existing formation algorithms for multiagent systems are fully label-specified, i.e., the desired position for each agent in the formation is uniquely determined by its label, which would inevitably make the formation algorithms…

We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder's objective is to reach a target without being simultaneously captured by the defender team. Some…

A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…

Catching objects in-flight is an outstanding challenge in robotics. In this paper, we present a closed-loop control system fusing data from two sensor modalities: an RGB-D camera and a radar. To develop and test our method, we start with an…

This paper discusses a cooperative strategy for capturing a target using multiple pursuers in a planar scenario. Given an initial position distribution of pursuers, the Voronoi Diagram is employed to characterize the target's proximity…

This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…

The speed-precision trade-off is a critical problem for visual object tracking which usually requires low latency and deployment on constrained resources. Existing solutions for efficient tracking mainly focus on adopting light-weight…