Jo~ao P. Hespanha, Maria Prandini
We consider games where a pursuer is trying to catch an evader that is moving randomly in a certain region. The pursuer has available different resources, i.e., teams of agents with different...
Adaptive linear quadratic Gaussian control: optimality analysis and robust controller design (2007)
Optimality Analysis, Maria Prandini, Supervisor Prof, Marco Campi
ents I would like to thank all the people who contributed directly or indirectly to the accomplishment of this work. First of all, I thank Prof. Marco Campi for his supervision and the enlightening...
Optimal Delay Estimation And Performance Evaluation In Blind Equalization (2007)
M. Prandini, M. Campi, R. Leonardi, Maria Prandini, Riccardo Leonardi
This paper deals with the problem of recovering the input signal applied to a linear time-invariant system from the measurements of its output and the a-priori knowledge of the input statistics...
Conjugate points in formation constrained optimal multi-agent coordination: A case study (2006)
Jianghai Hu, Maria Prandini, Claire Tomlin
Abstract. In this paper, an optimal coordinated motion planning problem for multiple agents subject to constraints on the admissible formation patterns is formulated. Solutions to the problem are...
Cautious hierarchical switching control of stochastic linear systems”, in Int (2004)
M. C. Campi, João P. Hespanha, Maria Prandini
Standard switching control methods are based on the certainty equivalence philosophy in that, at each switching time, the supervisor selects the candidate controller that is better tuned to the...
Optimal coordinated motions of multiple agents moving on a plane (2003)
Jianghai Hu, Maria Prandini, Shankar Sastry
Abstract. We address the problem of optimal coordinated motions of multiple agents moving in the same planar region. The agents ’ motions must satisfy a separation constraint throughout the...
Optimal pursuit under partial information (2002)
João P. Hespanha, Maria Prandini
with partial information; dynamic programming; value iteration; greedy policies. In this paper we address the control of a group of agents in the pursuit of one or several evaders that are moving in...
Optimal Coordinated Maneuvers for ThreeDimensional Aircraft Conflict Resolution (2002)
Jianghai Hu, Maria Prandini, Arnab Nilim, Shankar Sastry
In this paper, we study the problem of designing optimal coordinated maneuvers for multiple aircraft conflict resolution. We propose an energy function to select among all the conflict-free maneuvers...
Switching Control of Stochastic Linear Systems: Stability and Performance Results (2002)
In presence of large uncertainty, traditional methodologies based on a single controller do not provide, in general, satisfactory performance when applied to any system in the uncertainty set, and...
Aircraft and Weather Models for Probabilistic Collision Avoidance in Air Traffic Control (2002)
We propose a discrete time probabilistic model for predicting the future position of airliners, based on information about their current positions and flight plans. The model is used to derive an...
Probabilistic pursuit-evasion games: A one-step Nash approach (2000)
Jok P. Hespanha, Maria Prandini, Shankar Sastry
This paper addresses the control of a team of autonomous agents pursuing a smart evader in a non-accurately mapped terrain. By describing the problem as a partial informa-tion Markov game, we are...
Probabilistic pursuit-evasion games: A one-step Nash approach (2000)
Joao P. Hespanha, Maria Prandini, Shankar Sastry
This paper addresses the control of a team of autonomous agents pursuing a smart evader in a non-accurately mapped terrain. By describing the problem as a partial information Markov game, we are able...
Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach (2000)
João P. Hespanha, Jo~ao P. Hespanha, Maria Prandini, Shankar Sastry
This paper addresses the control of a team of autonomous agents pursuing a smart evader in a nonaccurately mapped terrain. By describing this problem as a partial information Markov game, we are able...
Probabilistic Pursuit-Evasion Games: A One-Step Nash Approach (2000)
João P. Hespanha, Jo~ao P. Hespanha, Maria Prandini, Shankar Sastry
This paper addresses the control of a team of autonomous agents pursuing a smart evader in a non-accurately mapped terrain. By describing the problem as a partial information Markov game, we are able...
Optimal Maneuver for Multiple Aircraft Conflict Resolution: A Braid Point of View (2000)
Jianghai Hu, Maria Prandini, Shankar Sastry
In this paper, we study conflict resolution for multiple aircraft encounter situations on a plane. First, the homotopy types of resolution maneuvers for n aircraft encounters are classified according...
Multiple-agent probabilistic pursuit-evasion games (1999)
João P. Hespanha, A One-step, Maria Prandini
This paper addresses the control of a team of autonomous agents pursuing a smart evader in a non-accurately mapped terrain. By describing the problem as a partial information Markov game, we are able...
A Probabilistic Framework for Highway Safety Analysis (1999)
Jianghai Hu, John Lygeros, Maria Prandini, Shankar Sastry
Brownian motion is used to model the uncertainty in the motion of cars on a highway. The probability of collision of two adjacent cars within a fixed horizon is calculated and its implications are...
Randomized Algorithms for Probabilistic Aircraft Conflict Detection (1999)
Maria Prandini, John Lygeros, Arnab Nilim, Shankar Sastry
A mid-range conflict alerting system is proposed, based on a measure of criticality which directly takes into account the uncertainty in the prediction of the aircraft positions. The use of...