6 papers
Interception-Driven Inverse Reachability for Engagement Zone Construction
Grant Stagg, Cameron K. Peterson, Alexander Von Moll +1
In contested environments, autonomous vehicles may need to plan around adversarial pursuers whose launch locations are unknown. This paper presents an interception-driven inverse-r…
Integrated Exploration-Aware UAV Route Optimization and Path Planning
Jimin Choi, Grant Stagg, Cameron K. Peterson +1
Uncrewed aerial vehicles (UAVs) are increasingly used for exploration-driven monitoring in hazardous environments such as disaster zones, contaminated sites, wildfire areas, and da…
Bi-Level Route Optimization and Path Planning with Hazard Exploration
Jimin Choi, Grant Stagg, Cameron K. Peterson +1
Effective risk monitoring in dynamic environments such as disaster zones requires an adaptive exploration strategy to detect hidden threats. We propose a bi-level unmanned aerial v…
Inferring Turn-Rate-Limited Engagement Zones with Sacrificial Agents for Safe Trajectory Planning
Grant Stagg, Cameron K. Peterson
This paper presents a learning-based framework for estimating pursuer parameters in turn-rate-limited pursuit-evasion scenarios using sacrificial agents. Each sacrificial agent fol…
Probabilistic Weapon Engagement Zones for a Turn Constrained Pursuer
Grant Stagg, Isaac E. Weintraub, Cameron K. Peterson
Curve-straight probabilistic engagement zones (CSPEZ) quantify the spatial regions an evader should avoid to reduce capture risk from a turn-rate-limited pursuer following a curve-…
Cooperative Multi-Agent Path Planning for Heterogeneous UAVs in Contested Environments
Grant Stagg, Cameron K. Peterson
This paper addresses the challenge of navigating unmanned aerial vehicles in contested environments by introducing a cooperative multi-agent framework that increases the likelihood…