With scaling of multi-robot teams deployed in military operations, there is a need to boost autonomy of individual, as well team behaviors. We developed a feature-rich simulation testbed for experimental evaluation of multi-agent coordination mechanisms applicable in tactical military operations in urban warfare. In particular, we investigated four approaches including multi-agent mission plann...

We investigate algorithms for playing multi-agent visibilitybased pursuit-evasion games. A team of pursuers attempts to maintain visibility contact with an evader who actively avoids tracking. We aim for applicability of the algorithms in real-world scenarios; hence, we impose hard constraints on the run-time of the algorithms and we evaluate them in a simulation model based on a real-world urb...

With scaling of multi-robot teams deployed in military operations, there is a need to boost autonomy of individual, as well as team behaviors. We developed a feature-rich simulation testbed for experimental evaluation of multi-agent coordination mechanisms applicable in tactical military operations in urban warfare. In particular, we investigated and implemented four approaches including multi-...

Abstract This article presents a rigorous formulation for the pursuit‐evasion (PE) game when velocity constraints are imposed on agents of or players. The is formulated as an infinite‐horizon problem using non‐quadratic functional, then sufficient conditions derived to prove capture in finite‐time. A novel tracking Hamilton–Jacobi–Isaacs (HJI) equation associated with value function employed, w...

Previous studies of multiagent pursuit-evasion problem usually assume that the pursuers can move at stable speeds. However, in many real cases, the pursuers’ speeds may be unstable. In this paper, we study multiagent pursuit-evasion problem based on pursuers with unstable speeds in a continuous open world. We present a feasible pursuing strategy, and the experimental results show that our strat...

We present an approach to the pursuit-evasion problem which is applicable to complex, multi-level environments. Studying each aspect of this problem in 3D structured environments is a distinct extension over many previous approaches. We also utilize our roadmap-based approach to multi-agent behavior when tracking agents of interest. Results are presented in three multi-level environments to hig...