相关论文: A Computational Approach for Designing Tiger Corri…
The orienteering problem is a well-studied and fundamental problem in transportation science. In the problem, we are given a graph with prizes on the nodes and lengths on the edges, together with a budget on the overall tour length. The…
Effective security patrol management is critical for ensuring safety in diverse environments such as art galleries, airports, and factories. The behavior of patrols in these situations can be modeled by patrolling games. They simulate the…
In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well as the future/predicted state of all the obstacles. The…
This paper presents the gatekeeper algorithm, a real-time and computationally-lightweight method that ensures that trajectories of a nonlinear system satisfy safety constraints despite sensing limitations. gatekeeper integrates with…
We present a novel algorithm for game-theoretic trajectory planning, tailored for settings in which agents can only observe one another in specific regions of the state space. Such problems arise naturally in the context of multi-robot…
Work zone navigation remains one of the most challenging manoeuvres for autonomous vehicles (AVs), where constrained geometries and unpredictable traffic patterns create a high-risk environment. Despite extensive research on AV trajectory…
The phenomenon of group cooperation constitutes a fundamental mechanism underlying various social and biological systems. Complex networks provide a structural framework for group interactions, where individuals can not only obtain…
We develop a general framework for reasoning about distances between transition systems with quantitative information. Taking as starting point an arbitrary distance on system traces, we show how this leads to natural definitions of a…
Cooperation within asymmetric populations has garnered significant attention in evolutionary games. This paper explores cooperation evolution in populations with weak and strong players, using a game model where players choose between…
We study the role of the adaptive movement strategy in promoting biodiversity in cyclic models described by the rock-paper-scissors game rules. We assume that individuals of one out of the species may adjust their movement to escape hostile…
Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…
Shepherding involves herding a swarm of agents (\emph{sheep}) by another a control agent (\emph{sheepdog}) towards a goal. Multiple approaches have been documented in the literature to model this behaviour. In this paper, we present a…
We study the problem of placing wildlife crossings, such as green bridges, over human-made obstacles to challenge habitat fragmentation. The main task herein is, given a graph describing habitats or routes of wildlife animals and…
Recent years have seen increased interest in the design and deployment of smart grid devices and control algorithms. Each of these smart communicating devices represents a potential access point for an intruder spurring research into…
A new mathematical model for evolutionary games on graphs is proposed to extend the classical replicator equation to finite populations of players organized on a network with generic topology. Classical results from game theory,…
The game of Cat Herding is one in which cat and herder players alternate turns, with the evasive cat moving along non-trivial paths between vertices, and the herder deleting single edges from the graph. Eventually the cat cannot move, and…
A central challenge in game theory and learning systems such as GANs is understanding which algorithms can efficiently compute equilibria across the heterogeneous landscape of games. Equilibrium computation is typically studied solver by…
Players of coevolutionary games may update not only their strategies but also their networks of interaction. Based on interpreting the payoff of players as fitness, dynamic landscape models are proposed. The modeling procedure is carried…
Safe Corridors (a series of overlapping convex shapes) have been used recently in multiple state-of-the-art motion planning methods. They allow to represent the free space in the environment in an efficient way for collision avoidance. In…
Plants come with sophisticated strategies to survive within a highly competing environment. In addition, they need to resist frequent attacks from a variety of herbivores acting alone, in small groups, or in swarms. Since the amount of…