120 citations · 145 across the 36 of their papers we have counts for
40 papers
Adapting to Changes in Agent Behavior via Finite-Depth Policy Sensitivity
Lan Shi, Daigo Shishika, Xuan Wang
Adapting a reinforcement learning policy to changes in another agent's behavior typically requires a large amount of new interaction data. Policy sensitivity provides a first-order…
Feedback Dominance Analysis for Pursuit-Evasion Games on Graphs
Yue Guan, Daigo Shishika, Dipankar Maity +2
This work identifies the dominance regions for discrete, simultaneous-move pursuit-evasion games on graphs. Existing geometric approaches provide efficient characterizations of win…
Deception and Counter Deception in Adversarial Graph Traversal Game
Violetta Rostobaya, James Berneburg, Daigo Shishika
We study deception in adversarial graph traversal, where a mobile agent seeks to reach a goal with minimum cost while an adversary alters edge costs to increase the total traversal…
Linear Programming Approach to Deceptive Path Planning Game with Goal Selection
Violetta Rostobaya, Yue Guan, James Berneburg +1
In adversarial settings, a mobile agent may strategically plan its motion to influence an opponent's inference about its intended goal. We study deceptive path planning in a scenar…
Asymmetric-Information Resource Allocation Games: An LP Approach to Purposeful Deception
Longxu Pan, Yue Guan, Daigo Shishika +1
In this work, we introduce the Deceptive Resource Allocation Game (DRAG), which studies purposeful deception within a Bayesian game framework. In DRAG, a Defender allocates resourc…
Optimal Hiding with Partial Information of the Seeker's Route
Prajakta Surve, Shaunak D. Bopardikar, Daigo Shishika +2
We consider a hide-and-seek game between a Hider and a Seeker over a finite set of locations. The Hider chooses one location to conceal a stationary treasure, while the Seeker visi…
Multi-robot Graph Traversal with Support Coordination under Stochastically Moving Adversaries
Manshi Limbu, Xuan Wang, Gregory J. Stein +2
Cooperative multi-robot missions require team of robots to traverse environments where adversaries or hazards with stochastic dynamics induce time-varying traversal risk. While sup…
Game-Theory-Assisted Reinforcement Learning for Border Defense: Early Termination based on Analytical Solutions
Goutam Das, Michael Dorothy, Kyle Volle +1
Game theory provides the gold standard for analyzing adversarial engagements, offering strong optimality guarantees. However, these guarantees often become brittle when assumptions…
Target Defense Using a Turret and Mobile Defender Team
Alexander Von Moll, Dipankar Maity, Meir Pachter +2
A scenario is considered wherein a stationary, turn constrained agent (Turret) and a mobile agent (Defender) cooperate to protect the former from an adversarial mobile agent (Attac…
Deceptive Path Planning: A Bayesian Game Approach
Violetta Rostobaya, James Berneburg, Yue Guan +2
This paper investigates how an autonomous agent can transmit information through its motion in an adversarial setting. We consider scenarios where an agent must reach its goal whil…
Heterogeneous Team Coordination on Partially Observable Graphs with Realistic Communication
Yanlin Zhou, Manshi Limbu, Xuan Wang +2
Team Coordination on Graphs with Risky Edges (\textsc{tcgre}) is a recently proposed problem, in which robots find paths to their goals while considering possible coordination to r…
Multi-Robot Coordination Induced in an Adversarial Graph-Traversal Game
James Berneburg, Xuan Wang, Xuesu Xiao +1
This paper presents a game theoretic formulation of a graph traversal problem, with applications to robots moving through hazardous environments in the presence of an adversary, as…
Heterogeneous Roles against Assignment Based Policies in Two vs Two Target Defense Game
Goutam Das, Violetta Rostobaya, James Berneburg +3
In this paper, we consider a target defense game in which the attacker team seeks to reach a high-value target while the defender team seeks to prevent that by capturing them away…
Learning Coordinated Maneuver in Adversarial Environments
Zechen Hu, Manshi Limbu, Daigo Shishika +2
This paper aims to solve the coordination of a team of robots traversing a route in the presence of adversaries with random positions. Our goal is to minimize the overall cost of t…
Guarding a Target Area from a Heterogeneous Group of Cooperative Attackers
Yoonjae Lee, Goutam Das, Daigo Shishika +1
In this paper, we investigate a multi-agent target guarding problem in which a single defender seeks to capture multiple attackers aiming to reach a high-value target area. In cont…
Deception in Differential Games: Information Limiting Strategy to Induce Dilemma
Daigo Shishika, Alexander Von Moll, Dipankar Maity +1
Can deception exist in differential games? We provide a case study for a Turret-Attacker differential game, where two Attackers seek to score points by reaching a target region whi…
Bi-CL: A Reinforcement Learning Framework for Robots Coordination Through Bi-level Optimization
Zechen Hu, Daigo Shishika, Xuesu Xiao +1
In multi-robot systems, achieving coordinated missions remains a significant challenge due to the coupled nature of coordination behaviors and the lack of global information for in…
Scaling Team Coordination on Graphs with Reinforcement Learning
Manshi Limbu, Zechen Hu, Xuan Wang +2
This paper studies Reinforcement Learning (RL) techniques to enable team coordination behaviors in graph environments with support actions among teammates to reduce the costs of tr…
Team Coordination on Graphs: Problem, Analysis, and Algorithms
Yanlin Zhou, Manshi Limbu, Gregory J. Stein +3
Team Coordination on Graphs with Risky Edges (TCGRE) is a recently emerged problem, in which a robot team collectively reduces graph traversal cost through support from one robot t…
Optimal Evasion from a Sensing-Limited Pursuer
Dipankar Maity, Alexander Von Moll, Daigo Shishika +1
This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the opt…
Defending a Static Target Point with a Slow Defender
Goutam Das, Michael Dorothy, Zachary I. Bell +1
This paper studies a target-defense game played between a slow defender and a fast attacker. The attacker wins the game if it reaches the target while avoiding the defender's captu…
Asymptotic Stability of Active Disturbance Rejection Control for Linear SISO Plants with Low Observer Gains
James Berneburg, Daigo Shishika, Cameron Nowzari
This paper theoretically investigates the closed-loop performance of active disturbance rejection control (ADRC) on a third-order linear plant with relative degree 3, subject to a…
Manta Ray Inspired Flapping-Wing Blimp
Kentaro Nojima-Schmunk, David Turzak, Kevin Kim +5
Lighter-than-air vehicles or blimps, are an evolving platform in robotics with several beneficial properties such as energy efficiency, collision resistance, and ability to work in…
Lighter-Than-Air Autonomous Ball Capture and Scoring Robot -- Design, Development, and Deployment
Joseph Prince Mathew, Dinesh Karri, James Yang +6
This paper describes the full end-to-end design of our primary scoring agent in an aerial autonomous robotics competition from April 2023. As open-ended robotics competitions becom…