相关论文: Escape from an Orbiting Pursuer with a Nonzero Cap…

We propose a bio-inspired, agent-based approach to describe the natural phenomenon of group chasing in both two and three dimensions. Using a set of local interaction rules we created a continuous-space and discrete-time model with time…

We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…

Assume that inside an initial planar area there are smart mobile evaders attempting to avoid detection by a team of sweeping searching agents. All sweepers detect evaders with fan-shaped sensors, modeling the field of view of real cameras.…

This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…

We consider linear search for an escaping target whose speed and initial position are unknown to the searcher. A searcher (an autonomous mobile agent) is initially placed at the origin of the real line and can move with maximum speed $1$ in…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

This paper presents a learning-based framework for estimating pursuer parameters in turn-rate-limited pursuit-evasion scenarios using sacrificial agents. Each sacrificial agent follows a straight-line trajectory toward an adversary and…

This paper investigates the pursuit-evasion problem of a defensive gun turret and one or more attacking drones. The turret must ``visit" each attacking drone once, as quickly as possible, to defeat the threat. This constitutes a Shortest…

Recent advances in robotics have enabled the widespread deployment of autonomous robotic systems in complex operational environments, presenting both unprecedented opportunities and significant security problems. Traditional shepherding…

This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…

We consider a surveillance-evasion game in an environment with obstacles. In such an environment, a mobile pursuer seeks to maintain the visibility with a mobile evader, who tries to get occluded from the pursuer in the shortest time…

We consider a scenario where a team of two unmanned aerial vehicles (UAVs) pursue an evader UAV within an urban environment. Each agent has a limited view of their environment where buildings can occlude their field-of-view. Additionally,…

We consider a pursuit-evasion differential game with a Hybrid system of dynamics in Hilbert space with integral constraints on the control functions of players. We show that the pursuer has a winning strategy.

The interdiction problem arises in a variety of areas including military logistics, infectious disease control, and counter-terrorism. In the typical formulation of network interdiction, the task of the interdictor is to find a set of edges…

The escape dynamics in a two-dimensional multiwell potential is explored. A thorough numerical investigation is conducted in several types of two-dimensional planes and also in a three-dimensional subspace of the entire four-dimensional…

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…

We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance…

We present a method for pursuit/evasion that is highly efficient and and scales to large teams of aircraft. The underlying algorithm is an efficient algorithm for solving Markov Decision Processes (MDPs) that supports fully continuous state…

This paper introduces a multirobot cooperation approach to solve the "pursuit evasion" problem for mobile robots that have omnidirectional vision sensors. The main characteristic of this approach is to implement a real cooperation between…

We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. Both the defender and the intruders have non-holonomic dynamics. The intruders' objective is to breach the…