相关论文: Capturing an Omnidirectional Evader in Convex Envi…
This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…
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 addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
This paper considers the blocking or football pursuit-evasion differential game. Two pursuers cooperate and try to capture the ball carrying evader as far as possible from the goal line. The evader wishes to be as close as possible to the…
Safe operation of systems such as robots requires them to plan and execute trajectories subject to safety constraints. When those systems are subject to uncertainties in their dynamics, it is challenging to ensure that the constraints are…
We study versions of cop and robber pursuit-evasion games on the visibility graphs of polygons, and inside polygons with straight and curved sides. Each player has full information about the other player's location, players take turns, and…
We consider a variant of the target defense problem in a planar conical environment where a single defender is tasked to capture a sequence of incoming attackers. The attackers' objective is to breach the target boundary without being…
In numerous positional games the identity of the winner is easily determined. In this case one of the more interesting questions is not {\em who} wins but rather {\em how fast} can one win. These type of problems were studied earlier for…
This paper addresses the visibility-based pursuit-evasion problem where a team of pursuer robots operating in a two-dimensional polygonal space seek to establish visibility of an arbitrarily fast evader. This is a computationally…
Visual tracking has yielded promising applications with unmanned aerial vehicle (UAV). In literature, the advanced discriminative correlation filter (DCF) type trackers generally distinguish the foreground from the background with a learned…
We investigate the problem of finding paths that enable a robot modeled as a Dubins car (i.e., a constant-speed finite-turn-rate unicycle) to escape from a circular region of space in minimum time. This minimum-time escape problem arises in…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
An operational relevant conflict between teams of autonomous vehicles in the Beyond Visual Range domain is addressed in this paper. Optimal strategies are designed in order for a team of air interceptors to protect a high value asset and…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…
The significant components of any successful autonomous flight system are task completion and collision avoidance. Most deep learning algorithms successfully execute these aspects under the environment and conditions they are trained.…
We analyze a two-player game in which players take turns avoiding the selection of certain points within a convex geometry. The objective is to prevent the convex closure of all chosen points from encompassing a predefined set. The first…