相关论文: Optimal Strategies for the Game of Protecting a Pl…

In the Target-Attacker-Defender (TAD) differential game, an Attacker missile strives to capture a Target aircraft. The Target tries to escape the Attacker and is aided by a Defender missile which aims at intercepting the Attacker before the…

In this paper an N-pursuer vs. M-evader team conflict is studied. The differential game of border defense is addressed and we focus on the game of degree in the region of the state space where the pursuers are able to win. This work extends…

We revisit the two-player planar target-defense game initially posed by Isaacs where a pursuer (or defender) attempts to guard a target set from an attack by an evader (or attacker). This paper builds on existing analytical solutions to…

This paper considers a subspace guarding game in high-dimensional space which consists of a play subspace and a target subspace. Two faster defenders cooperate to protect the target subspace by capturing an attacker which strives to enter…

This paper addresses a two-player target defense game in the $n$-dimensional Euclidean space where an attacker attempts to enter a closed convex target set while a defender strives to capture the attacker beforehand. We provide a complete…

An operational relevant conflict between teams of autonomous vehicles in the Beyond Visual Range domain is addressed in this paper. Optimal strategies are designed in order for a team of air interceptors to protect a high value asset and…

This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different…

This paper considers a reach-avoid differential game in three-dimensional space with four equal-speed players. A plane divides the game space into a play subspace and a goal subspace. The evader aims at entering the goal subspace while…

Corrigibility of autonomous agents is an under explored part of system design, with previous work focusing on single agent systems. It has been suggested that uncertainty over the human preferences acts to keep the agents corrigible, even…

We develop a game-theoretic framework for adversarially robust optimal safe predefined-time stabilization of parameter-dependent nonlinear dynamical systems with nonquadratic cost functionals. Our approach ensures that all system…

We study pursuit-evasion differential games between a faster pursuer moving in 3D space and an evader moving in a plane. We first extend the well-known Apollonius circle to 3D space, by which we construct the isochron for the considered two…

Ensuring robust decision-making in multi-agent systems is challenging when agents have distinct, possibly conflicting objectives and lack full knowledge of each other's strategies. This is apparent in safety-critical applications such as…

Achieving mission objectives in a realistic simulation of aerial combat is highly challenging due to imperfect situational awareness and nonlinear flight dynamics. In this work, we introduce a novel 3D multi-agent air combat environment and…

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…

Many robotic applications involve interactions between multiple agents where an agent's decisions affect the behavior of other agents. Such behaviors can be captured by the equilibria of differential games which provide an expressive…

The active target defense differential game is addressed in this paper. In this differential game an Attacker missile pursues a Target aircraft. The aircraft is however aided by a Defender missile launched by, say, the wingman, to intercept…

Considering uncertainties and disturbances is an important, yet challenging, step in successful decision making. The problem becomes more challenging in safety-constrained environments. In this paper, we propose a robust and safe trajectory…

In this work, we investigate a security game between an attacker and a defender, originally proposed in \cite{emadi2019security}. As is well known, the combinatorial nature of security games leads to a large cost matrix. Therefore,…

Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent of other agents is crucial to deploying autonomous systems…

In this work, we consider the problem of autonomous racing with multiple agents where agents must interact closely and influence each other to compete. We model interactions among agents through a game-theoretical framework and propose an…