4 papers
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-…
Systematic Constraint Formulation and Collision-Free Trajectory Planning Using Space-Time Graphs of Convex Sets
Matthew D. Osburn, Cameron K. Peterson, John L. Salmon
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an init…
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…