相关论文: Protective Mission against a Highly Maneuverable R…

The drone technology has been increasingly used by many tech-savvy consumers, a number of defense companies, hobbyists and enthusiasts during the last ten years. Drones often come in various sizes and are designed for a multitude of…

Safe navigation of drones in the presence of adversarial physical attacks from multiple pursuers is a challenging task. This paper proposes a novel approach, asynchronous multi-stage deep reinforcement learning (AMS-DRL), to train…

This paper introduces a flight envelope protection algorithm on a longitudinal axis that leverages reinforcement learning (RL). By considering limits on variables such as angle of attack, load factor, and pitch rate, the algorithm…

We consider a cloud based multiserver system consisting of a set of replica application servers behind a set of proxy (indirection) servers which interact directly with clients over the Internet. We study a proactive moving-target defense…

Recent advancements in drone technology have shown that commercial off-the-shelf Micro Aerial Drones are more effective than large-sized drones for performing flight missions in narrow environments, such as swarming, indoor navigation, and…

We propose a novel game-theoretic approach for drone service composition considering recharging constraints. We design a non-cooperative game model for drone services. We propose a non-cooperative game algorithm for the selection and…

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of…

This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and…

Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…

There has been substantial growth in the UAV market along with an expansion in their applications. However, the successful execution of a UAV mission is very often dependent on the use of a GNSS. Unfortunately, the vulnerability of GNSS…

This paper addresses a drone ball-balancing task, in which a drone stabilizes a ball atop a movable beam through cable-based interaction. We propose a hierarchical control framework that decouples high-level balancing policy from low-level…

Low-cost mini-drones with advanced sensing and maneuverability enable a new class of intelligent sensing systems. To achieve the full potential of such drones, it is necessary to develop new enhanced formulations of both common and emerging…

This paper presents ESCAPE, an informed moving target defense mechanism for cloud containers. ESCAPE models the interaction between attackers and their target containers as a "predator searching for a prey" search game. Live migration of…

We study the resource sharing problem in a drone-based wireless network. We consider a distributed control setting under uncertainty (i.e. unavailability of full information). In particular, the drones cooperate in serving the users while…

The anticipated widespread use of unmanned aerial vehicles (UAVs) raises significant safety and security concerns, including trespassing in restricted areas, colliding with other UAVs, and disrupting high-traffic airspaces. To mitigate…

In recent years, drones have found increased applications in a wide array of real-world tasks. Model predictive control (MPC) has emerged as a practical method for drone flight control, owing to its robustness against modeling…

In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization…

Stochastic patrol routing is known to be advantageous in adversarial settings; however, the optimal choice of stochastic routing strategy is dependent on a model of the adversary. We adopt a worst-case omniscient adversary model from the…

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…

This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…