Borrowing a concept from hydrodynamic analysis, this paper presents stream functions
which satisfy Laplace's equation as a local-minima free method for producing potential-field …

Mixed-integer linear programming (MILP) is a powerful tool for planning and control
problems because of its modeling capability and the availability of good solvers. However …

Three experiments and a computational analysis were conducted to investigate the effects of
a delegation-type interface on human supervision of simulated multiple unmanned vehicles …

Capture-the-flag is a complex, challenging game that is a useful proxy for many problems in
robotics and other application areas. The game is adversarial, with multiple, potentially …

We consider a multiplayer reach-avoid game with an equal number of attackers and
defenders moving with simple dynamics on a two-dimensional domain possibly with …

We consider a multiplayer reach-avoid game played between N attackers and N defenders
moving with simple dynamics on a general two-dimensional domain. The attackers attempt …

This paper proposes a two-part contribution to the human factor issues raised by the
prospect of the deployment of swarms of autonomous robots under the supervision of a …

We use a decomposition approach to generate cooperative strategies for a class of multi-
vehicle control problems. By introducing a set of tasks to be completed by the team of …

Use of unmanned aerial vehicles (UAVs) is an increasingly important element of military
missions. However, controlling UAVs may impose high stress and workload on the operator …

This paper provides an introduction to the RoboFlag competition and its use as a testbed for
distributed control of multi-vehicle systems. The game consists of two teams of 6-10 robots …