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Synthesis of strategies for autonomous surveillance on adversarial targets

journal contribution
posted on 2023-11-29, 18:06 authored by Suda Bharadwaj, Rayna DimitrovaRayna Dimitrova, Jesse Quattrociocchi, Ufuk Topcu
We study the problem of synthesizing a controller for an agent with imperfect sensing and a quantitative surveillance objective, that is, an agent is required to maintain knowledge of the location of a moving, possibly adversarial target. We formulate the problem as a one-sided partial-information game with a winning condition expressed as a temporal logic specification. The specification encodes the quantitative surveillance requirement as well as any additional tasks. Solving a partial-information game typically involves transforming it into a perfect-information belief game using a belief-set construction. Such a transformation leads to a state-space explosion, rendering the belief game computationally intractable to solve for most realistic settings. We present a belief-set abstraction technique to transform the partial-information game to a provably sound abstract belief game that can be solved efficiently using off-the-shelf reactive synthesis tools. We introduce a counterexample-guided refinement approach to automatically achieve the abstraction precision sufficient to synthesize a strategy that is provably winning on the original partial-information game. We evaluate the proposed method on multiple case-studies, implemented on hardware as well as high-fidelity ROS/Gazebo simulations where the agent must respond in real-time to a human-controlled adversary.


Preferred Citation

Suda Bharadwaj, Rayna Dimitrova, Jesse Quattrociocchi and Ufuk Topcu. Synthesis of strategies for autonomous surveillance on adversarial targets. In: Robotics and Autonomous Systems. 2022.

Primary Research Area

  • Threat Detection and Defenses

Legacy Posted Date



Robotics and Autonomous Systems

Open Access Type

  • Green

Sub Type

  • Article


@article{cispa_all_3605, title = "Synthesis of strategies for autonomous surveillance on adversarial targets", author = "Bharadwaj, Suda and Dimitrova, Rayna and Quattrociocchi, Jesse and Topcu, Ufuk", journal="{Robotics and Autonomous Systems}", year="2022", }

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