A real-time game theoretic planner for autonomous two-player drone racing
In this article, we propose an online 3-D planning algorithm for a drone to race competitively
against a single adversary drone. The algorithm computes an approximation of the Nash …
against a single adversary drone. The algorithm computes an approximation of the Nash …
Safe occlusion-aware autonomous driving via game-theoretic active perception
Autonomous vehicles interacting with other traffic participants heavily rely on the perception
and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions …
and prediction of other agents' behaviors to plan safe trajectories. However, as occlusions …
Nonlinear state-feedback design for vehicle lateral control using sum-of-squares programming
This work addresses the lateral stabilisation problem of four-wheels ground vehicles. The
objective is to estimate the largest state-space region such that the closed-loop vehicle …
objective is to estimate the largest state-space region such that the closed-loop vehicle …
Infinite-horizon reach-avoid zero-sum games via deep reinforcement learning
In this paper, we consider the infinite-horizon reach-avoid zero-sum game problem, where
the goal is to find a set in the state space, referred to as the reach-avoid set, such that the …
the goal is to find a set in the state space, referred to as the reach-avoid set, such that the …
Signal temporal logic meets reachability: Connections and applications
Signal temporal logic (STL) and reachability analysis are effective mathematical tools for
formally analyzing the behavior of robotic systems. STL is a specification language that uses …
formally analyzing the behavior of robotic systems. STL is a specification language that uses …
Guaranteed-safe approximate reachability via state dependency-based decomposition
Hamilton Jacobi (HJ) Reachability is a formal verification tool widely used in robotic safety
analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter …
analysis. Given a target set as unsafe states, a dynamical system is guaranteed not to enter …
Safe set-based trajectory planning for robotic manipulators
R McGovern, N Athanasopoulos… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
Inspired by the line of seminal works on projected path dynamics and time-optimal control of
robots, which originated in the 1980s, and recent advances on the computation of safe sets …
robots, which originated in the 1980s, and recent advances on the computation of safe sets …
Fast, smooth, and safe: implicit control barrier functions through reach-avoid differential dynamic programming
Safety is a central requirement for autonomous system operation across domains. Hamilton-
Jacobi (HJ) reachability analysis can be used to construct “least-restrictive” safety filters that …
Jacobi (HJ) reachability analysis can be used to construct “least-restrictive” safety filters that …
Coordinated defense allocation in reach-avoid scenarios with efficient online optimization
In this paper, we present a dual-layer online optimization strategy for defender robots
operating in multiplayer reach-avoid games within general convex environments. Our goal is …
operating in multiplayer reach-avoid games within general convex environments. Our goal is …
Pursuit-evasion differential games of players with different speeds in spaces of different dimensions
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 …
and an evader moving in a plane. We first extend the well-known Apollonius circle to 3D …