Helei Yang

2 accepted papers

2024

A Distributed Pipeline for Collaborative Pursuit in the Target Guarding Problem

Yansong Chen, Yuchen Wu, Helei Yang, Junjie Cao, Qinqin Wang, Yong Liu

RA-L 2024

The target guarding problem (TGP) is a classical combat game where pursuers aim to capture evaders to protect a territory from intrusion. This paper proposes a distributed pipeline for multi-pursuer multi-evader TGP with the capability to accommodate varying numbers of evaders and criteria for succe

Cited by 8 Source ↗Scholar ↗

2023

Large Scale Pursuit-Evasion Under Collision Avoidance Using Deep Reinforcement Learning

Helei Yang, Peng Ge, Junjie Cao, Yifan Yang, Yong Liu

IROS 2023poster

This paper examines a pursuit-evasion game (PEG) involving multiple pursuers and evaders. The decentralized pursuers aim to collaborate to capture the faster evaders while avoiding collisions. The policies of all agents are learning-based and are subjected to kinematic constraints that are specific…

Cited by 5 Source ↗Scholar ↗