相关论文: Cooperative Evasion by Translating Targets with Va…

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…

It is of great challenge, though promising, to coordinate collective robots for hunting an evader in a decentralized manner purely in light of local observations. In this paper, this challenge is addressed by a novel hybrid cooperative…

The interception of moving targets is a widely studied issue. In this paper, we propose an algorithm of intercepting the moving target with a wheeled mobile robot in a dynamic environment. We first predict the future position of the target…

This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

A lane-change maneuver on a congested highway could be severely disruptive or even infeasible without the cooperation of neighboring cars. However, cooperation with other vehicles does not guarantee that the performed maneuver will not have…

As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and…

This paper considers the blocking or football pursuit-evasion differential game. Two pursuers cooperate and try to capture the ball carrying evader as far as possible from the goal line. The evader wishes to be as close as possible to the…

Safe overtaking, especially in a bidirectional mixed-traffic setting, remains a key challenge for Connected Autonomous Vehicles (CAVs). The presence of human-driven vehicles (HDVs), behavior unpredictability, and blind spots resulting from…

This paper studies a planar multiplayer Homicidal Chauffeur reach-avoid differential game, where each pursuer is a Dubins car and each evader has simple motion. The pursuers aim to protect a goal region cooperatively from the evaders. Due…

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…

In this paper, an adaptive cooperative guidance strategy for the active protection of a target spacecraft trying to evade an interceptor was developed. The target spacecraft performs evasive maneuvers, launching an active defense vehicle to…

This paper studies a class of approach-evasion differential games, in which one player aims to steer the state of a dynamic system to the given target set in minimum time, while avoiding some set of disallowed states, and the other player…

This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…

In multi-agent search planning for a randomly moving and camouflaging target, we examine heterogeneous searchers that differ in terms of their endurance level, travel speed, and detection ability. This leads to a convex mixed-integer…

A defender dispatches patrollers to circumambulate a perimeter to guard against potential attacks. The defender decides on the time points to dispatch patrollers and each patroller's direction and speed, as long as the long-run rate…

In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…

The tradeoff between accuracy and speed is considered fundamental to individual and collective decision-making. In this paper, we focus on collective estimation as an example of collective decision-making. The task is to estimate the…

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…

Collective vigilance describes how animals in groups benefit from the predator detection efforts of others. Empirical observations typically find either a many-eyes strategy with all (or many) group members maintaining a low level of…