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

This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…

Motivated by security needs in unmanned aerial system (UAS) operations, an algorithm for identifying airspace intruders (e.g., birds vs. drones) is developed. The algorithm is structured to use sensed intruder velocity data from…

Pursuit and evasion conflicts represent challenging problems with important applications in aerospace and robotics. In pursuit-evasion problems, synthesis of intelligent actions must consider the adversary's potential strategies.…

Adaptive tracking-by-detection approaches are popular for tracking arbitrary objects. They treat the tracking problem as a classification task and use online learning techniques to update the object model. However, these approaches are…

This paper develops a path planner that minimizes risk (e.g. motion execution) while maximizing accumulated reward (e.g., quality of sensor viewpoint) motivated by visual assistance or tracking scenarios in unstructured or confined…

Pedestrian trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…

We present a framework that incorporates the idea of bounded rationality into dynamic stochastic pursuit-evasion games. The solution of a stochastic game is characterized, in general, by its (Nash) equilibria in feedback form. However,…

In this paper, we address pursuit-evasion problems involving multiple pursuers and multiple evaders. The pursuer and the evader teams are assumed to be heterogeneous, in the sense that each team has agents with different speed capabilities.…

In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…

In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are…

Suppose in a given planar region, there are smart mobile evaders and we want to detect them using sweeping agents. We assume that the agents have line sensors of equal length. We propose procedures for designing cooperative sweeping…

The paper focuses on a classical tracking model, subspace learning, grounded on the fact that the targets in successive frames are considered to reside in a low-dimensional subspace or manifold due to the similarity in their appearances. In…

Leader-follower navigation is a popular class of multi-robot algorithms where a leader robot leads the follower robots in a team. The leader has specialized capabilities or mission-critical information (e.g. goal location) that the…

Computer vision has received a significant attention in recent year, which is one of the important parts for robots to obtain information about the external environment. Visual trackers can provide the necessary physical and environmental…

This paper solves the problem of herding countless evaders by means of a few robots. The objective is to steer all the evaders towards a desired tracking reference while avoiding escapes. The problem is very challenging due to the highly…

Traditional classification algorithms assume that training and test data come from similar distributions. This assumption is violated in adversarial settings, where malicious actors modify instances to evade detection. A number of custom…

Machine learning algorithms, however effective, are known to be vulnerable in adversarial scenarios where a malicious user may inject manipulated instances. In this work we focus on evasion attacks, where a model is trained in a safe…

This paper explores the design and development of a class of robust diver-following algorithms for autonomous underwater robots. By considering the operational challenges for underwater visual tracking in diverse real-world settings, we…