相关论文: Active Adversarial Evader Tracking with a Probabil…

The evader's dominance region is an important concept and the foundation of geometric methods for pursuit-evasion games. This article mainly reveals the relevant properties of the evader's dominance region, especially in non-anticipative…

Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that each agent has a line sensor of length 2r. We propose procedures for designing…

We consider a class of pursuit-evasion differential games in which the evader has continuous access to the pursuer's location, but not vice-versa. There is an immobile sensor (e.g., a ground radar station) that can sense the evader's…

With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…

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…

This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…

The classical setting of optimal control theory assumes full knowledge of the process dynamics and the costs associated with every control strategy. The problem becomes much harder if the controller only knows a finite set of possible…

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…

We consider a pursuit-evasion problem with a heterogeneous team of multiple pursuers and multiple evaders. Although both the pursuers (robots) and the evaders are aware of each others' control and assignment strategies, they do not have…

We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…

Assume that inside an initial planar area there are smart mobile evaders attempting to avoid detection by a team of sweeping searching agents. All sweepers detect evaders with fan-shaped sensors, modeling the field of view of real cameras.…

We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelihood of failures depends on the proximity between the targets…

Suppose one wants to monitor a domain with sensors, each sensing a small ball-shaped region, but the domain is hazardous enough that one cannot control the placement of the sensors. A prohibitively large number of randomly placed sensors…

In this paper, we consider a territory guarding game involving pursuers, evaders and a target in an environment that contains obstacles. The goal of the evaders is to capture the target, while that of the pursuers is to capture the evaders…

This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…

We study a pursuit-evasion game between two players with car-like dynamics and sensing limitations by formalizing it as a partially observable stochastic zero-sum game. The partial observability caused by the sensing constraints is…

This paper studies a novel encirclement guaranteed cooperative pursuit problem involving $N$ pursuers and a single evader in an unbounded two-dimensional game domain. Throughout the game, the pursuers are required to maintain encirclement…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

Suppose that in a given planar circular region, there are some smart mobile evaders and we would like to find them using sweeping agents. We assume that the sweeping agents are in a line formation whose total length is 2r. We propose…

Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…