相关论文: Reaching a Target in the Plane with no Information

We propose a simple uncertainty modification for the agent model in normal-form games; at any given strategy profile, the agent can access only a set of "possible profiles" that are within a certain distance from the actual action profile.…

This paper proposes a control algorithm for a UAV to circumnavigate an unknown target at a fixed radius when the location information of the UAV is unavailable. By assuming that the UAV has a constant velocity, the control algorithm makes…

For a group of cooperating UAVs, localizing each other is often a key task. This paper studies the localization problem for a group of UAVs flying in 3D space with very limited information, i.e., when noisy distance measurements are the…

We investigate simple strategies that embody the decisions that one faces when trying to park near a popular destination. Should one park far from the target (destination), where finding a spot is easy, but then be faced with a long walk,…

Autonomous drone swarms are a burgeoning technology with significant applications in the field of mapping, inspection, transportation and monitoring. To complete a task, each drone has to accomplish a sub-goal within the context of the…

We propose a simple model that describes the dynamics of efficiencies of competing agents. Agents communicate leading to increase of efficiencies of underachievers, and an efficiency of each agent can increase or decrease irrespectively of…

We consider the problem of delivering $m$ messages between specified source-target pairs in a weighted undirected graph, by $k$ mobile agents initially located at distinct nodes of the graph. Each agent consumes energy proportional to the…

This paper investigates how an autonomous agent can transmit information through its motion in an adversarial setting. We consider scenarios where an agent must reach its goal while deceiving an intelligent observer about its destination.…

Predicting the future behavior of moving agents is essential for real world applications. It is challenging as the intent of the agent and the corresponding behavior is unknown and intrinsically multimodal. Our key insight is that for…

The transportation problem in the plane - how to move a set of objects from one set of points to another set of points in the cheapest way - is a very old problem going back several hundreds of years. In recent years the solution of the…

We address the problem of planning collision-free paths for multiple agents using optimization methods known as proximal algorithms. Recently this approach was explored in Bento et al. 2013, which demonstrated its ease of parallelization…

There are $n\geq 3$ unit speed mobile agents placed at the origin of the infinite line. In as little time as possible, the agents must find and evacuate from an exit placed at an initially unknown location on the line. The agents can…

This paper presents a decentralized algorithm for a team of agents to track time-varying fixed points that are the solutions to time-varying convex optimization problems. The algorithm is first-order, and it allows for total asynchrony in…

We study the problem of multi-robot target assignment to minimize the total distance traveled by the robots until they all reach an equal number of static targets. In the first half of the paper, we present a necessary and sufficient…

In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles. We formulate the game as an optimal control problem with state inequality constraint in a simple…

We discuss surveillance with multiple unmanned aerial vehicles (UAV) that minimize idleness (the time between consecutive visits of sensing locations) and constrain latency (the time between capturing data at a sensing location and its…

We develop data-driven algorithms for reachability analysis and control of systems with a priori unknown nonlinear dynamics. The resulting algorithms not only are suitable for settings with real-time requirements but also provide provable…

Fast shipping and efficient routing are key problems of modern logistics. Building on previous studies that address package delivery from a source node to a destination within a graph using multiple agents (such as vehicles, drones, and…

We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…

We consider team zero-sum network congestion games with $n$ agents playing against $k$ interceptors over a graph $G$. The agents aim to minimize their collective cost of sending traffic over paths in $G$, which is an aggregation of edge…