相关论文: Robust-by-Design Plans for Multi-Robot Pursuit-Eva…

The problem of adversarial multi-robot patrol has gained interest in recent years, mainly due to its immediate relevance to various security applications. In this problem, robots are required to repeatedly visit a target area in a way that…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning. A single camera may observe multiple actors at once, and a…

This paper addresses multi-UAV pursuit-evasion, where a group of drones cooperates to capture a fast evader in a confined environment with obstacles. Existing heuristic algorithms, which simplify the pursuit-evasion problem, often lack…

Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…

Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logistics. To be effective, such robots must follow the target…

There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…

Front-following is more technically difficult to implement than the other two human following technologies, but front-following technology is more practical and can be applied in more areas to solve more practical problems. Front-following…

In this paper, we address a pursuit-evasion game involving multiple players by utilizing tools and techniques from reinforcement learning and matrix game theory. In particular, we consider the problem of steering an evader to a goal…

This paper aims to enhance the physical layer security against potential internal eavesdroppings by exploiting the maneuverability of an unmanned aerial vehicle (UAV). We consider a scenario where two receivers with different security…

In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…

We consider the problem of multi-robot sensor coverage, which deals with deploying a multi-robot team in an environment and optimizing the sensing quality of the overall environment. As real-world environments involve a variety of sensory…

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…

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…

The optimal control of a "blind" pursuer searching for an evader moving on a road network and heading at a known speed toward a set of goal vertices is considered. To aid the "blind" pursuer, certain roads in the network have been…

Robustness is key to engineering, automation, and science as a whole. However, the property of robustness is often underpinned by costly requirements such as over-provisioning, known uncertainty and predictive models, and known adversaries.…

Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…

A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…

An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…

Drone light shows have emerged as a popular form of entertainment in recent years. However, several high-profile incidents involving large-scale drone failures -- where multiple drones simultaneously fall from the sky -- have raised safety…