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In this paper, we consider the problem of planning optimal paths for a differential-drive robot with limited sensing, that must maintain visibility of a fixed landmark as it navigates in its environment. In particular, we assume that the robot's vision sensor has a limited field of view (FOV), and that the fixed landmark must remain within the FOV(More)
A state-space modeling approach for examining dynamic relationship between multiple brain regions was proposed in Ho, Ombao and Shumway (Ho, M.R., Ombao, H., Shumway, R., 2005. A State-Space Approach to Modelling Brain Dynamics to Appear in Statistica Sinica). Their approach assumed that the quantity representing the influence of one neuronal system over(More)
In this paper, we present a game theoretic analysis of a visibility based pursuit-evasion game in a planar environment containing obstacles. The pursuer and the evader are holonomic having bounded speeds. Both the players have a complete map of the environment. Both the players have omnidirectional vision and have knowledge about each other's current(More)
In this paper, we present a visual servo controller that effects optimal paths for a nonholonomic differential drive robot with field-of-view constraints imposed by the vision system. The control scheme relies on the computation of homographies between current and goal images, but unlike previous homography-based methods, it does not use the homography to(More)
Thispaper addresses the pursuit-evasion problem ofmainaining surveillance by a pursuer ofan evader in a world populated by polyg-onal obstacles. This requires the pursur to plan colision-free motions that honor distance constrants imposed by sensor capabilities, while avoiding occlusion of the evader by any obstacle. The paper extends the three-dimensional(More)
— In this work, we analyze the problem of maintaining connectivity in a network of mobile agents in the presence of a jammer. This is a variation of the standard connectivity maintenance problem in which the issue arises due to limitations in communications and sensing model for each agent. In our work, the limitations in communications are due to the(More)
— In this paper, we consider a differential game theoretic approach to compute optimal strategies by a team of UAVs to evade the attack of an aerial jammer on the communication channel. We formulate the problem as a zero-sum pursuit-evasion game. The cost function is the termination time of the game. We use Isaacs' approach to derive the necessary(More)
— We address the problem of surveillance in an environment with obstacles. We show that the problem of tracking an evader with one pursuer around one corner is completely decidable. The pursuer and the evader have complete information about each other's instantaneous position. The pursuer has complete information about the instantaneous velocity of the(More)
— We introduce the concept of using compressive sensing techniques to provide feedback in order to control dynamical systems. Compressive sensing algorithms use l1-regularization for reconstructing data from a few measurement samples. These algorithms provide highly efficient reconstruction for sparse data. For data that is not sparse enough, the(More)
— In this paper, we consider the problem in which a mobile pursuer attempts to maintain visual contact with an evader as it moves through an environment containing obstacles. This surveillance problem is a variation of traditional pursuit-evasion games, with the additional condition that the pursuer immediately loses the game if at any time it loses sight(More)