相关论文: NMPC-Based Cooperative Strategy For A Target Pair …

This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…

This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is developed for surveillance and tracking of…

We consider a distributed non cooperative control setting in which systems are interconnected via state constraints. Each of these systems is governed by an agent which is responsible for exchanging information with its neighbours and…

The Stackelberg security game is played between a defender and an attacker, where the defender needs to allocate a limited amount of resources to multiple targets in order to minimize the loss due to adversarial attack by the attacker.…

This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…

We study two-player security games which can be viewed as sequences of nonzero-sum matrix games played by an Attacker and a Defender. The evolution of the game is based on a stochastic fictitious play process. Players do not have access to…

Selecting the combination of security controls that will most effectively protect a system's assets is a difficult task. If the wrong controls are selected, the system may be left vulnerable to cyber-attacks that can impact the…

This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…

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…

There is a high demand for high-quality Non-Player Characters (NPCs) in video games. Hand-crafting their behavior is a labor intensive and error prone engineering process with limited controls exposed to the game designers. We propose to…

In targeted poisoning attacks, an attacker manipulates an agent-environment interaction to force the agent into adopting a policy of interest, called target policy. Prior work has primarily focused on attacks that modify standard MDP…

This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…

This paper studies a system security problem in the context of observability based on a two-person noncooperative infinitely repeated game. Both the attacker and the defender have means to modify the dimension of the unobservable subspace,…

This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…

Automated testing of computer games is a challenging problem, especially when lengthy scenarios have to be tested. Automating such a scenario boils down to finding the right sequence of interactions given an abstract description of the…

This paper studies the deployment of joint moving target defense (MTD) and deception against multi-stage cyberattacks. Given the system equipped with MTD that randomizes between different configurations, we investigate how to allocate a…

We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…

Coalitional control is concerned with the management of multi-agent systems where cooperation cannot be taken for granted (due to, e.g., market competition, logistics). This paper proposes a model predictive control (MPC) framework aimed at…

We study environments in which agents are randomly matched to play a Prisoner's Dilemma, and each player observes a few of the partner's past actions against previous opponents. We depart from the existing related literature by allowing a…

We propose a hybrid approach that combines Hamilton-Jacobi (HJ) reachability and mixed-integer optimization for solving a reach-avoid game with multiple attackers and defenders. The reach-avoid game is an important problem with potential…