5 citations · 9 across the 15 of their papers we have counts for
16 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…
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…
Minimum Time Escape from a Circular Region of a Dubins Car
Isaac E. Weintraub, Alexander Von Moll, Meir Pachter
A turn-constrained evader strives to escape a circular region in minimum time.
Pursuit-Evasion on a Sphere and When It Can Be Considered Flat
Dejan Milutinovic, Alexander Von Moll, Satyanarayana G. Manyam +3
In classical works on a planar differential pursuit-evasion game with a faster pursuer, the intercept point resulting from the equilibrium strategies lies on the Apollonius circle.…
Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly
Bhargav Jha, Shaunak Bopardikar, Alexander Von Moll +1
This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a man…
Shortest Trajectory of a Dubins Vehicle with a Controllable Laser
Shivam Bajaj, Bhargav Jha, Shaunak D. Bopardikar +2
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit spe…
Sampling-Based Risk-Aware Path Planning Around Dynamic Engagement Zones
Artur Wolek, Isaac E. Weintraub, Alexander Von Moll +2
Existing methods for avoiding dynamic engagement zones (EZs) and minimizing risk leverage the calculus of variations to obtain optimal paths. While such methods are deterministic,…
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…
Basic Engagement Zones
Alexander Von Moll, Isaac E. Weintraub
This paper establishes a more formal definition for an Engagement Zone (EZ) and derives some basic EZs associated with fundamental engagement models associated with pursuit-evasion…
Escape from an Orbiting Pursuer with a Nonzero Capture Radius
Braulio Mora, Alexander Von Moll, Isaac Weintraub +2
This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, attempts to escape a circular containment regi…
Virtual Target Selection for a Multiple-Pursuer Multiple-Evader Scenario
Isaac E. Weintraub, Alexander Von Moll, David W. Casbeer +1
This paper considers an M-pursuer N-evader scenario involving virtual targets. The virtual targets serve as an intermediary target for the pursuers, allowing the pursuers to delay…
Perimeter Defense using a Turret with Finite Range and Service Times
Shivam Bajaj, Shaunak D. Bopardikar, Alexander Von Moll +2
We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a c…
Target Defense against Sequentially Arriving Intruders
Arman Pourghorban, Michael Dorothy, Daigo Shishika +2
We consider a variant of the target defense problem where a single defender is tasked to capture a sequence of incoming intruders. The intruders' objective is to breach the target…
An Optimal Engagement Zone Avoidance Scenario in 2-D
Isaac E. Weintraub, Alexander Von Moll, Christian Carrizales +2
In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while avoiding a dynamic engagement zone. Using simp…
One Apollonius Circle is Enough for Many Pursuit-Evasion Games
Michael Dorothy, Dipankar Maity, Daigo Shishika +1
This paper investigates obstacle-free simple motion pursuit-evasion problems where the pursuer is faster and game termination is point capture. It is well known that the interior o…
Competitive Perimeter Defense of Conical Environments
Shivam Bajaj, Eric Torng, Shaunak D. Bopardikar +4
We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile…