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

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…

Active learning methods, like uncertainty sampling, combined with probabilistic prediction techniques have achieved success in various problems like image classification and text classification. For more complex multivariate prediction…

In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…

This paper addresses a critical aerial defense challenge in contested airspace, involving three autonomous aerial vehicles -- a hostile drone (the pursuer), a high-value drone (the evader), and a protective drone (the defender). We present…

Pursuit-evasion is a multi-agent sequential decision problem wherein a group of agents known as pursuers coordinate their traversal of a spatial domain to locate an agent trying to evade them. Pursuit evasion problems arise in a number of…

This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…

This paper analyzes the meeting time between a pair of pursuer and evader performing random walks on digraphs. The existing bounds on the meeting time usually work only for certain classes of walks and cannot be used to formulate…

We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the…

This work considers a multiplayer reach-avoid game between two adversarial teams in a general convex domain which consists of a target region and a play region. The evasion team, initially lying in the play region, aims to send as many its…

Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…

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,…

This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the…

Consider a given planar circular region, in which there is an unknown number of smart mobile evaders. We wish to detect evaders using a line formation of sweeping agents whose total sensing length is predetermined. We propose procedures for…

In a multi-robot system, a number of autonomous robots would sense, communicate, and decide to move within a given domain to achieve a common goal. In this paper, we consider a new variant of the pursuit-evasion problem in which the robots…

In this article an $n$-pursuer versus $m$-evader reach-avoid differential game in 3D space is studied. A team of evaders aim to reach a stationary target while avoiding capture by a team of pursuers. The multiplayer scenario is formulated…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

Autonomous vehicles interacting with other traffic participants heavily rely on the perception and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions limit the vehicle's perception ability, reasoning…