Related papers: Reach-Avoid Differential game with Reachability An…
This paper presents a multiplayer Homicidal Chauffeur reach-avoid differential game, which involves Dubins-car pursuers and simple-motion evaders. The goal of the pursuers is to cooperatively protect a planar convex region from the evaders,…
We develop a new Hamiton-Jacobi (HJ) and differential game approach for exploring the Pareto front of (constrained) multi-objective optimization (MOO) problems. Given a preference function, we embed the scalarized MOO problem into the value…
Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical…
This paper considers a subspace guarding game in high-dimensional space which consists of a play subspace and a target subspace. Two faster defenders cooperate to protect the target subspace by capturing an attacker which strives to enter…
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles.…
Hamilton-Jacobi-Isaacs (HJI) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. This analysis is computationally intensive and typically performed offline. Online, however, the autonomous system may…
As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despite perceptual uncertainty. Unfortunately, the verification…
Motivated by the scalability limitations of Eulerian methods for variational Hamilton-Jacobi-Isaacs (HJI) formulations that provide a least restrictive controller in problems that involve state or input constraints under a worst-possible…
This paper studies a variant of the multi-player reach-avoid game played between intruders and defenders with applications to perimeter defense. The intruder team tries to score by sending as many intruders as possible to the target area,…
Autonomous robots commonly aim to complete a nominal behavior while minimizing a cost; this leaves them vulnerable to failure or unplanned scenarios, where a backup or contingency plan to a safe set is needed to avoid a total mission…
In this paper, we present a dual-layer online optimization strategy for defender robots operating in multiplayer reach-avoid games within general convex environments. Our goal is to intercept as many attacker robots as possible without…
In this work, a delay-tolerant unmanned aerial vehicle (UAV) relayed covert and secure communication framework is investigated. In this framework, a legitimate UAV serves as an aerial relay to realize communication when the direct link…
We consider the problem of planning trajectories for a group of $N$ vehicles, each aiming to reach its own target set while avoiding danger zones of other vehicles. The analysis of problems like this is extremely important practically,…
Uncrewed Aerial Systems (UASs) have become a growing threat to the security of critical infrastructure, exploiting spatiotemporal gaps in sensor perimeters to infiltrate restricted airspace undetected. We formulate this interaction as a…
A conflict between rational and autonomous agents is considered. The paper addresses a differential game of protecting a target in the 3-D space. This problem highlights the strong correlation between the highly dynamic scenario, the…
This paper studies a multiplayer reach-avoid differential game in the presence of general polygonal obstacles that block the players' motions. The pursuers cooperate to protect a convex region from the evaders who try to reach the region.…
Machine learning driven image-based controllers allow robotic systems to take intelligent actions based on the visual feedback from their environment. Understanding when these controllers might lead to system safety violations is important…
This work considers designing an unmanned target hunting system for a swarm of unmanned underwater vehicles (UUVs) to hunt a target with high maneuverability. Differential game theory is used to analyze combat policies of UUVs and the…
Reachability analysis is a fundamental problem for safety verification and falsification of Cyber-Physical Systems (CPS) whose dynamics follow physical laws usually represented as differential equations. In the last two decades, numerous…
Hamilton-Jacobi (HJ) reachability analysis is a widely adopted verification tool to provide safety and performance guarantees for autonomous systems. However, it involves solving a partial differential equation (PDE) to compute a safety…