Publications

A turn-constrained evader strives to escape a circular region in minimum time.

Pursuit-Evasion on a Sphere and analogs to Apollonius Circle

Existing methods for avoiding dynamic engagement zones (EZs) and minimizing risk leverage the calculus of variations to obtain optimal …

The work herein presents a new approach to aircraft control within a leader-follower formation, and the refinement process used in its …

This paper considers a class of cyber-attacks attacking a swarm of Unmanned Aerial Vehicles (UAVs). Our focus is on scenarios wherein …

This paper considers an M-pursuer N-evader scenario involving virtual targets. The virtual targets serve as an intermediary target for …

Here we study an optimal control problem involving energy management of a hybrid-fuel Unmanned Aerial Vehicle (UAV). The planning …

This paper explores a multi-agent containment problem, where a fast evader, modeled having constant speed and using constant heading, …

Mixed Integer Linear Programs (MILPs) are often used in the path planning of both ground and aerial vehicles. Such a formulation of the …

This paper establishes a more formal definition for an Engagement Zone (EZ) and derives some basic EZs associated with fundamental …

In pursuit-evasion the objective of the pursuer is to capture the evader. In this work, the faster pursuer is modeled to have limited …

This paper focuses on developing an energy-efficient control algorithm for a type of leader-follower formation, namely, ring formation, …

The work herein expresses an optimal control problem for an air vehicle to reach a desired location through two dynamic keep out zones. …

This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using …

The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it …

The maximum surveillance of a target which is holding course is considered, wherein an observer vehicle aims to maximize the time that …

The Intelligent Systems Technical Committee works to advance the application of computation problem-solving technologies and methods to …

We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims …

Here we consider the problem of path planning for a hybrid fuel Unmanned Aerial Vehicle (UAV), equipped with both a battery and …

A conflict between rational and autonomous agents is considered. The paper addresses a differential game of protecting a target in the …

In the ring formation control problem, the follower is designated to approach a ring defined relative to the leader. This type of …

A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle …

This paper focuses on optimizing the 3D flight trajectory of a fixed-wing follower aircraft in a leader-follower formation scenario. …

In this paper, an optimal control problem is considered where a target vehicle aims to reach a desired location in minimum time while …

In this paper we advocate for Isaacs' method for the solution of differential games to be applied to the solution of optimal control …

In this work, a continuous monitoring scenario where multiple unmanned aerial vehicles are tasked to monitor a dynamic target moving …

In this paper, we consider a trajectory planning problem where an autonomous vehicle aims to rendezvous with another cooperating …

A framework for monitoring a target modeled as Dubins car using multiple UAVs is proposed. The UAVs are subject to minimum and maximum …

Conventional leader-follower formations restrict the follower to a single desired position relative to the leader. To give the follower …

Optimal control theory and differential game theory is applied to the study of the defense of high value airborne assets, particularly …

In this work, we consider a two-agent scenario consisting of an observer and non-maneuvering target. In the scenario, the observer is …

Most conventional formation control algorithms consider convergence towards a specific desired point (or a specific desired …

A three-agent scenario is considered in 3-D Cartesian space, where a Pursuer aims at intercepting an Evader while the Evader aims to …

We consider a multiple vehicle path planning problem with curvature constraints in the presence of obstacles, where multiple vehicles …

This paper describes a technique, called quarter-cycle constant period frequency modulation, to control the motion of wings on a …

In this paper, the interception of a target vehicle is presented utilizing a Bézier path. Utilizing the Bézier path, the controlled …

An engagement scenario involving the defence of a non-manoeuvrable agent, called the Target, is considered. A pursuing agent, engages …

This paper considers a two agent scenario containing an observer and a non-maneuvering target. The observer is maneuverable but is …

Pursuit and evasion conflicts represent challenging problems with important applications in aerospace and robotics. In pursuit-evasion problems, synthesis of intelligent actions must consider the adversary’s potential strategies. Differential game theory provides an adequate framework to analyze possible outcomes of the conflict without assuming particular behaviors by the opponent. This article presents an organized introduction of pursuit-evasion differential games with an overview of recent advances in the area.

The goal of optimal control is to obtain an admissible function which minimizes an objective functional subject to specified …

Combatant small Unmanned Aerial Vehicles (CUAVs) can easily enter restricted airspace and may be mitigated by counter UAVs. …

An engagement scenario involving the defense of a valuable and non-maneuverable aircraft is investigated in this paper. An Attacker …

Coordination and cooperation of networked multi-agent systems is usually constrained by dynamic and communication limitations. In this …

A method of configuring a wing velocity profile includes segmenting a complete wingbeat cycle into a set of quarter strokes including a …

In this work, experimental measurements of cycle-averaged forces produced by a flapping wing micro air vehicle are provided. The …

This work is focused on testing multiple versions of flapping wing mechanisms to improve the lift generating capabilities of the …

This work is focused on testing the viability of split-cycle constant-period frequency modulation for controlling a flapping wing micro …

Typically, inertial loads associated with flapping wing micro air vehicles are ignored for analysis and control law development …