{"id":"https://openalex.org/W3185539947","doi":"https://doi.org/10.1109/tase.2021.3097286","title":"A Dynamic Game Framework for Rational and Persistent Robot Deception With an Application to Deceptive Pursuit-Evasion","display_name":"A Dynamic Game Framework for Rational and Persistent Robot Deception With an Application to Deceptive Pursuit-Evasion","publication_year":2021,"publication_date":"2021-07-26","ids":{"openalex":"https://openalex.org/W3185539947","doi":"https://doi.org/10.1109/tase.2021.3097286","mag":"3185539947"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2021.3097286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3097286","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1907.00459","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089244984","display_name":"Linan Huang","orcid":"https://orcid.org/0000-0003-1591-8749"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Linan Huang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, New York University, New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New York University, New York, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081500464","display_name":"Quanyan Zhu","orcid":"https://orcid.org/0000-0002-0008-2953"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Quanyan Zhu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, New York University, New York, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New York University, New York, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5089244984"],"corresponding_institution_ids":["https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":15.3256,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.98310056,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"19","issue":"4","first_page":"2918","last_page":"2932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11031","display_name":"Game Theory and Applications","score":0.972000002861023,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9660000205039978,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/deception","display_name":"Deception","score":0.7166314721107483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5282225608825684},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5177030563354492},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.471692830324173},{"id":"https://openalex.org/keywords/pursuit-evasion","display_name":"Pursuit-evasion","score":0.46694982051849365},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.4635652005672455},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45863616466522217},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42129117250442505},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35324037075042725},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3003428280353546},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.2993003726005554},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2405109405517578}],"concepts":[{"id":"https://openalex.org/C2779267917","wikidata":"https://www.wikidata.org/wiki/Q170028","display_name":"Deception","level":2,"score":0.7166314721107483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5282225608825684},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5177030563354492},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.471692830324173},{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.46694982051849365},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.4635652005672455},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45863616466522217},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42129117250442505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35324037075042725},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3003428280353546},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.2993003726005554},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2405109405517578},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2021.3097286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2021.3097286","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1907.00459","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.00459","pdf_url":"https://arxiv.org/pdf/1907.00459","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1907.00459","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1907.00459","pdf_url":"https://arxiv.org/pdf/1907.00459","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G5230278422","display_name":null,"funder_award_id":"W911NF-19-1-0041","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G6164310037","display_name":null,"funder_award_id":"CNS-2027884","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7543639573","display_name":null,"funder_award_id":"CNS-1544782","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G776526140","display_name":null,"funder_award_id":"ECCS-1847056","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7947630385","display_name":null,"funder_award_id":"SES-1541164","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W352684917","https://openalex.org/W1972770177","https://openalex.org/W1997904200","https://openalex.org/W2027182623","https://openalex.org/W2037500647","https://openalex.org/W2051253872","https://openalex.org/W2075585362","https://openalex.org/W2110878428","https://openalex.org/W2111131418","https://openalex.org/W2142121158","https://openalex.org/W2149357098","https://openalex.org/W2295546444","https://openalex.org/W2296267298","https://openalex.org/W2320794073","https://openalex.org/W2589039213","https://openalex.org/W2611814963","https://openalex.org/W2624021832","https://openalex.org/W2764012211","https://openalex.org/W2775010193","https://openalex.org/W2790738997","https://openalex.org/W2890099238","https://openalex.org/W2892303285","https://openalex.org/W2893194684","https://openalex.org/W2943597923","https://openalex.org/W2944749370","https://openalex.org/W2947853468","https://openalex.org/W2951270751","https://openalex.org/W2962963881","https://openalex.org/W2963294138","https://openalex.org/W2963978778","https://openalex.org/W2982123563","https://openalex.org/W2999656808","https://openalex.org/W3000332477","https://openalex.org/W3006868073","https://openalex.org/W3012226659","https://openalex.org/W3082437751","https://openalex.org/W3089997924","https://openalex.org/W3207121925","https://openalex.org/W4245365549","https://openalex.org/W4250744658","https://openalex.org/W4251775324","https://openalex.org/W4302033101","https://openalex.org/W6763175103","https://openalex.org/W6769243171"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2963993697","https://openalex.org/W4312141693","https://openalex.org/W1536009559","https://openalex.org/W2103821767","https://openalex.org/W1969185016","https://openalex.org/W2037619003","https://openalex.org/W2111030377","https://openalex.org/W1965856819"],"abstract_inverted_index":{"This":[0,300],"article":[1],"studies":[2,332,382],"rational":[3,73],"and":[4,13,123,135,168,175,196,209,230,246,257,269,293,317,319,357,370,372,395,410,425],"persistent":[5,56],"deception":[6,54,71,80,250,279,325,335,350,391,406,421],"among":[7,422],"intelligent":[8],"robots":[9,66,75,276,399],"to":[10,64,77,117,212,234,252,264,277,280,289,307,344,383,431],"enhance":[11],"security":[12,292],"operational":[14,294],"efficiency.":[15],"We":[16,179],"present":[17],"an":[18,35],"<inline-formula":[19,26,142],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[20,27,143],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[21,28,144],"<tex-math":[22,29,145],"notation=\"LaTeX\">$N$":[23],"</tex-math></inline-formula>":[24,31,147],"-player":[25],"notation=\"LaTeX\">$K$":[30,146],"-stage":[32],"game":[33,225,305],"with":[34,188,206,351],"asymmetric":[36],"information":[37,43,287],"structure":[38],"where":[39],"each":[40,58],"robot\u2019s":[41,59],"private":[42,60],"is":[44,55,72,105,154],"modeled":[45],"as":[46,57,74,162,226,243,355,380],"a":[47,88,106,128,163,182,203,222,227,303,346],"random":[48],"variable":[49],"or":[50,97,432],"its":[51,118],"type.":[52],"The":[53,70,149,360,375,413],"type":[61],"remains":[62],"unknown":[63],"other":[65],"for":[67,110],"all":[68],"stages.":[69,148,329],"aim":[76],"achieve":[78],"their":[79,282],"goals":[81],"at":[82],"minimum":[83],"cost.":[84],"Each":[85],"robot":[86,334],"forms":[87],"dynamic":[89,111,304],"belief":[90,124,198,217,393],"of":[91,113,120,131,151,172,184,249,296,311,349,405],"others\u2019":[92],"types":[93],"based":[94],"on":[95,333,338,418],"intrinsic":[96,216],"extrinsic":[98,197],"information.":[99,115],"Perfect":[100],"Bayesian":[101,411],"Nash":[102],"equilibrium":[103],"(PBNE)":[104],"natural":[107],"solution":[108],"concept":[109],"games":[112,377],"incomplete":[114],"Due":[116],"requirements":[119],"sequential":[121],"rationality":[122],"consistency,":[125],"PBNE":[126,160,214],"provides":[127],"reliable":[129],"prediction":[130],"players\u2019":[132,173],"actions,":[133],"beliefs,":[134],"expected":[136],"cumulative":[137],"costs":[138,176],"over":[139,328],"the":[140,159,170,192,236,247,254,258,291,297,309,314,324,358,386,390,397,402,436],"entire":[141],"contribution":[150],"this":[152,341],"work":[153,301,342,415],"fourfold.":[155],"First,":[156],"we":[157,201,220,239],"identify":[158],"computation":[161],"nonlinear":[164],"stochastic":[165],"control":[166,271],"problem":[167],"characterize":[169],"structures":[171],"actions":[174],"under":[177,191,215,261,323],"PBNE.":[178],"further":[180,433],"derive":[181],"set":[183],"extended":[185],"Riccati":[186],"equations":[187],"cognitive":[189],"coupling":[190],"linear-quadratic":[193],"(LQ)":[194],"setting":[195],"dynamics.":[199,218],"Second,":[200],"develop":[202],"receding-horizon":[204],"algorithm":[205],"low":[207],"temporal":[208],"spatial":[210],"complexity":[211],"compute":[213],"Third,":[219],"investigate":[221],"deceptive":[223],"pursuit-evasion":[224,376],"case":[228,381],"study":[229],"use":[231,278],"numerical":[232],"experiments":[233,339],"corroborate":[235],"results.":[237],"Finally,":[238],"propose":[240],"metrics,":[241,353],"such":[242,354],"deceivability,":[244],"reachability,":[245],"price":[248],"(PoD),":[251],"evaluate":[253],"strategy":[255],"design":[256,320],"system":[259],"performance":[260],"deception.":[262,437],"Note":[263],"Practitioners\u2014Recent":[265],"advances":[266],"in":[267,272],"automation":[268],"adaptive":[270],"multi-agent":[273],"systems":[274,427],"enable":[275],"accomplish":[281],"objectives.":[283],"Deception":[284],"involves":[285],"intentional":[286],"hiding":[288],"compromise":[290],"efficiency":[295],"robotic":[298,426],"systems.":[299],"proposes":[302],"framework":[306],"quantify":[308],"impact":[310,404],"deception,":[312],"understand":[313],"robots\u2019":[315],"behaviors":[316],"intentions,":[318],"cost-efficient":[321],"strategies":[322],"that":[326,428],"persists":[327],"Existing":[330],"research":[331],"have":[336],"relied":[337],"while":[340],"aims":[343],"lay":[345],"theoretical":[347],"foundation":[348],"quantitative":[352],"deceivability":[356],"PoD.":[359],"proposed":[361],"model":[362],"has":[363],"wide":[364],"applications,":[365],"including":[366],"cooperative":[367,420],"robots,":[368],"pursuit":[369],"evasion,":[371],"human\u2013robot":[373],"teaming.":[374],"are":[378,429],"used":[379],"show":[384],"how":[385,396],"deceiver":[387],"can":[388,400],"amplify":[389],"by":[392,407],"manipulation":[394],"deceived":[398],"reduce":[401],"negative":[403],"enhanced":[408],"maneuverability":[409],"learning.":[412],"future":[414],"would":[416],"focus":[417],"designing":[419],"swarm":[423],"robotics":[424],"robust":[430],"benefit":[434],"from":[435]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}