Shaunak D. Bopardikar
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View article: Vector Cost Behavioral Planning for Autonomous Robotic Systems with Contemporary Validation Strategies
Vector Cost Behavioral Planning for Autonomous Robotic Systems with Contemporary Validation Strategies Open
The vector cost bimatrix game is a method for multi-objective decision making that enables autonomous robotic systems to optimize for multiple goals at once while avoiding worst-case scenarios in neglected objectives. We expand this approa…
View article: Mutual Support by Sensor-Attacker Team for a Passive Target
Mutual Support by Sensor-Attacker Team for a Passive Target Open
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor's objective is to keep the t…
View article: Vector Cost Bimatrix Games with Applications to Autonomous Racing
Vector Cost Bimatrix Games with Applications to Autonomous Racing Open
We formulate a vector cost alternative to the scalarization method for weighting and combining multi-objective costs. The algorithm produces solutions to bimatrix games that are simultaneously pure, unique Nash equilibria and Pareto optima…
View article: Generalized Concentration-Based Performance Guarantees on Sensor Selection for State Estimation
Generalized Concentration-Based Performance Guarantees on Sensor Selection for State Estimation Open
In this work, we apply concentration-based results to the problem of sensor selection for state estimation to provide us with meaningful guarantees on the properties of our selection. We consider a selection of sensors that is randomly cho…
View article: Mutual Support by Sensor-Attacker Team for a Passive Target
Mutual Support by Sensor-Attacker Team for a Passive Target Open
We introduce a pursuit game played between a team of a sensor and an attacker and a mobile target in the unbounded Euclidean plane. The target is faster than the sensor, but slower than the attacker. The sensor’s objective is to keep the t…
View article: Competitive Perimeter Defense in Tree Environments
Competitive Perimeter Defense in Tree Environments Open
We consider a perimeter defense problem in a rooted full tree graph environment in which a single defending vehicle seeks to defend a set of specified vertices, termed as the perimeter from mobile intruders that enter the environment throu…
View article: FlipDyn in Graphs: Resource Takeover Games in Graphs
FlipDyn in Graphs: Resource Takeover Games in Graphs Open
We present \texttt{FlipDyn-G}, a dynamic game model extending the \texttt{FlipDyn} framework to a graph-based setting, where each node represents a dynamical system. This model captures the interactions between a defender and an adversary …
View article: Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly
Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly Open
This paper presents joint motion planning of a vehicle with an attached rotating turret. The turret has a limited range as well as the field of view. The objective is capture a maneuvering target such that at the terminal time it is within…
View article: Shortest Trajectory of a Dubins Vehicle with a Controllable Laser
Shortest Trajectory of a Dubins Vehicle with a Controllable Laser Open
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a cl…
View article: Matrix Concentration Inequalities for Sensor Selection
Matrix Concentration Inequalities for Sensor Selection Open
In this work, we address the problem of sensor selection for state estimation via Kalman filtering. We consider a linear time-invariant (LTI) dynamical system subject to process and measurement noise, where the sensors we use to perform st…
View article: FlipDyn with Control: Resource Takeover Games with Dynamics
FlipDyn with Control: Resource Takeover Games with Dynamics Open
We introduce FlipDyn with control, a finite-horizon zero-sum resource takeover game, where a defender and an adversary decide when to takeover and how to control a common resource. At each discrete-time step, the players can take over or r…
View article: On Multi-Fidelity Impedance Tuning for Human-Robot Cooperative Manipulation
On Multi-Fidelity Impedance Tuning for Human-Robot Cooperative Manipulation Open
We examine how a human-robot interaction (HRI) system may be designed when input-output data from previous experiments are available. In particular, we consider how to select an optimal impedance in the assistance design for a cooperative …
View article: Game Theory in Distributed Systems Security: Foundations, Challenges, and Future Directions
Game Theory in Distributed Systems Security: Foundations, Challenges, and Future Directions Open
Many of our critical infrastructure systems and personal computing systems have a distributed computing systems structure. The incentives to attack them have been growing rapidly as has their attack surface due to increasing levels of conn…
View article: Automated Adversary-in-the-Loop Cyber-Physical Defense Planning
Automated Adversary-in-the-Loop Cyber-Physical Defense Planning Open
Security of cyber-physical systems (CPS) continues to pose new challenges due to the tight integration and operational complexity of the cyber and physical components. To address these challenges, this article presents a domain-aware, opti…
View article: A Multi-Fidelity Bayesian Approach to Safe Controller Design
A Multi-Fidelity Bayesian Approach to Safe Controller Design Open
Safely controlling unknown dynamical systems is one of the biggest challenges in the field of control. Oftentimes, an approximate model of a system's dynamics exists which provides beneficial information for the selection of controls. Howe…
View article: A Concentration-Based Approach for Optimizing the Estimation Performance in Stochastic Sensor Selection
A Concentration-Based Approach for Optimizing the Estimation Performance in Stochastic Sensor Selection Open
In this work, we consider a sensor selection drawn at random by a sampling with replacement policy for a linear time-invariant dynamical system subject to process and measurement noise. We employ the Kalman filter to estimate the state of …
View article: Competitive perimeter defense with a turret and a mobile vehicle
Competitive perimeter defense with a turret and a mobile vehicle Open
We consider perimeter defense problem in a planar conical environment with two cooperative heterogeneous defenders, i.e., a turret and a mobile vehicle, that seek to defend a concentric perimeter against mobile intruders. Arbitrary numbers…
View article: Perimeter Defense using a Turret with Finite Range and Service Times
Perimeter Defense using a Turret with Finite Range and Service Times Open
We consider a perimeter defense problem in a planar conical environment comprising a single turret that has a finite range and non-zero service time. The turret seeks to defend a concentric perimeter against $N\geq 2$ intruders. Upon relea…
View article: FlipDyn: A game of resource takeovers in dynamical systems
FlipDyn: A game of resource takeovers in dynamical systems Open
We introduce a game in which two players with opposing objectives seek to repeatedly takeover a common resource. The resource is modeled as a discrete time dynamical system over which a player can gain control after spending a state-depend…
View article: Incentivizing Collaboration in Heterogeneous Teams via Common-Pool Resource Games
Incentivizing Collaboration in Heterogeneous Teams via Common-Pool Resource Games Open
We consider a team of heterogeneous agents that is collectively responsible for servicing, and subsequently reviewing, a stream of homogeneous tasks. Each agent has an associated mean service time and a mean review time for servicing and r…
View article: Competitive Perimeter Defense in Linear Environments
Competitive Perimeter Defense in Linear Environments Open
View article: Competitive Perimeter Defense of Conical Environments
Competitive Perimeter Defense of Conical Environments Open
We consider a perimeter defense problem in a planar conical environment in which a single vehicle, having a finite capture radius, aims to defend a concentric perimeter from mobile intruders. The intruders are arbitrarily released at the c…
View article: Cooperative Evasion by Translating Targets with Variable Speeds
Cooperative Evasion by Translating Targets with Variable Speeds Open
We consider a problem of cooperative evasion between a single pursuer and multiple evaders in which the evaders are constrained to move in the positive Y direction. The evaders are slower than the vehicle and can choose their speeds from a…
View article: Probabilistic Performance Bounds for Randomized Sensor Selection in Kalman Filtering
Probabilistic Performance Bounds for Randomized Sensor Selection in Kalman Filtering Open
We consider the problem of randomly choosing the sensors of a linear time-invariant dynamical system subject to process and measurement noise. We sample the sensors independently and from the same distribution. We measure the performance o…
View article: Competitive Perimeter Defense on a Line
Competitive Perimeter Defense on a Line Open
We consider a perimeter defense problem in which a single vehicle seeks to defend a compact region from intruders in a one-dimensional environment parameterized by the perimeter size and the intruder-to-vehicle speed ratio. The intruders m…
View article: Probabilistic Performance Bounds for Randomized Sensor Selection in\n Kalman Filtering
Probabilistic Performance Bounds for Randomized Sensor Selection in\n Kalman Filtering Open
We consider the problem of randomly choosing the sensors of a linear\ntime-invariant dynamical system subject to process and measurement noise. We\nsample the sensors independently and from the same distribution. We measure the\nperformanc…
View article: Automated Adversary Emulation for Cyber-Physical Systems via Reinforcement Learning
Automated Adversary Emulation for Cyber-Physical Systems via Reinforcement Learning Open
Adversary emulation is an offensive exercise that provides a comprehensive assessment of a system's resilience against cyber attacks. However, adversary emulation is typically a manual process, making it costly and hard to deploy in cyber-…
View article: Automated Adversary Emulation for Cyber-Physical Systems via\n Reinforcement Learning
Automated Adversary Emulation for Cyber-Physical Systems via\n Reinforcement Learning Open
Adversary emulation is an offensive exercise that provides a comprehensive\nassessment of a system's resilience against cyber attacks. However, adversary\nemulation is typically a manual process, making it costly and hard to deploy in\ncyb…
View article: Secure Route Planning Using Dynamic Games with Stopping States
Secure Route Planning Using Dynamic Games with Stopping States Open
We consider the classic motion planning problem defined over a roadmap in which a vehicle seeks to find an optimal path from a source to a destination in presence of an attacker who can launch attacks on the vehicle over any edge of the ro…
View article: Dynamic Boundary Guarding Against Radially Incoming Targets
Dynamic Boundary Guarding Against Radially Incoming Targets Open
We introduce a dynamic vehicle routing problem in which a single vehicle seeks to guard a circular perimeter against radially inward moving targets. Targets are generated uniformly as per a Poisson process in time with a fixed arrival rate…