#### Filter Results:

- Full text PDF available (26)

#### Publication Year

2006

2017

- This year (2)
- Last 5 years (21)
- Last 10 years (36)

#### Publication Type

#### Co-author

#### Journals and Conferences

#### Key Phrases

Learn More

- Shaunak Dattaprasad Bopardikar, Francesco Bullo, João Pedro Hespanha
- IEEE Transactions on Robotics
- 2008

In this paper, we address discrete-time pursuit-evasion games in the plane where every player has identical sensing and motion ranges restricted to closed disks of given sensing and stepping radii. A single evader is initially located inside a bounded subset of the environment and does not move until detected. We propose a <i>sweep-pursuit-capture</i>… (More)

We address the discrete-time Lion and Man problem in a bounded, convex, planar environment in which both players have identical sensing ranges, restricted to closed discs about their current locations. The evader is randomly located inside the environment and moves only when detected. The players can step inside identical closed discs, centered at their… (More)

- Shaunak Dattaprasad Bopardikar, Stephen L. Smith, Francesco Bullo, João Pedro Hespanha
- IEEE Trans. Automat. Contr.
- 2010

We introduce a problem in which demands arrive stochastically on a line segment, and upon arrival, move with a fixed velocity perpendicular to the segment. We design a receding horizon service policy for a vehicle with speed greater than that of the demands, based on the translational minimum Hamiltonian path (TMHP). We consider Poisson demand arrivals,… (More)

This paper addresses the solution of large zerosum matrix games using randomized methods. We provide a procedure by which a player can compute mixed policies that, with high probability, are security policies against an adversary that is also using randomized methods to solve the game. The computational savings result from solving subgames that are much… (More)

We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on the edge opposite the deadline, and move towards the deadline at a fixed speed. The goal for the vehicle is to maximize… (More)

- Shaunak Dattaprasad Bopardikar, Stephen L. Smith, Francesco Bullo
- IEEE Transactions on Robotics
- 2014

We consider the problem of dynamic vehicle routing under exact-time constraints on servicing demands. Demands are sequentially generated in an environment, and every demand needs to be serviced exactly after a fixed finite interval of time after it is generated. We design routing policies for a service vehicle to maximize the fraction of demands serviced at… (More)

Pursuit Strategies for Autonomous Vehicles

- Shaunak Dattaprasad Bopardikar, Francesco Bullo, João Pedro Hespanha
- Automatica
- 2007

We address a pursuit-evasion problem involving an unbounded planar environment, a single evader and multiple pursuers moving along curves of bounded curvature. The problem amounts to a multi-agent version of the classic homicidal chauffeur problem; we identify parameter ranges in which a single pursuer is not sufficient to guarantee evader capture. We… (More)

We address a discrete-time pursuit-evasion problem involving multiple pursuers and a single evader in an unbounded, planar environment in which each player has limited-range sensing. The evader appears at a random location in a bounded region and moves only when sensed. We propose a sweep-pursuit-capture strategy for a group of at least three pursuers and… (More)

We consider a game played between a hider, who hides a static object in one of several possible positions in a bounded planar region, and a searcher, who wishes to reach the object by querying sensors placed in the plane. The searcher is a mobile agent, and whenever it physically visits a sensor, the sensor returns a random direction, corresponding to a… (More)