Optimal navigation policy for an autonomous agent operating in adversarial environments

Emmanuel Boidot, Aude Marzuoli, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

We consider an autonomous vehicle navigation problem, whereby a traveler aims at traversing an environment in which an adversary tries to set an ambush. Optimal strategies are computed as random path distributions, a realization of which is the path chosen by the traveler. Theoretical optimal policies are derived under assumptions from the Minimal Cut-Maximal Flow literature. Numerical approaches to compute such optimal strategies are proposed. These numerical approaches, which borrow from randomized path planning techniques, can be implemented for high-dimensional configuration spaces. The methodology developed allows for the application of ambush games on complex environments for realistic applications regarding vehicle routing in adversarial settings.
Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3154-3160
Number of pages7
ISBN (Print)9781467380263
DOIs
StatePublished - Jun 8 2016
Externally publishedYes

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