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In this paper, we address a particular multiplayer pursuit-evasion game, called as escape-avoid games, in which a number of defenders moving along a fixed circular orbit (FCO) in an evenly distributed formation are attempting to capture a single evader who strives to escape from the encirclement of the defenders. The analysis of this game plays an important role in aircraft control, motion planning...
In this paper, we propose an adaptive optimal control for a robot to collaborate with a human. Game theory and policy iteration are employed to analyze the interactive behaviors of the human and the robot in physical interactions. The human's control objective is estimated and it is used to adapt the robot's own objective, such that human-robot coordination can be achieved. An optimal control is developed...
This paper presents a new approach for solving optimal control problems for switched systems with prespecified order of the sequence of subsystems. For such problems, we need to seek both the optimal switching instants and the optimal continuous inputs. The optimal control problem for hybrid systems is transcribed into an equivalent problem parameterized by the switching instants and the control vectors...
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