A Surveillance Evasion Game with Continuous Sensor Redeployment via Bilevel Optimization

• URL: http://arxiv.org/abs/2605.27917v1
• Date: Wed, 27 May 2026 03:44:27 GMT
• Title: A Surveillance Evasion Game with Continuous Sensor Redeployment via Bilevel Optimization
• Abstract summary: Un Aerialed Systems (UASs) have become a growing threat to the security of critical infrastructure.<n>We restrict this interaction as a two-step zero-sum differential game between an adversarial UAS and a heterogeneous sensor network.<n>We introduce a continuous sensor redeployment technique in which each sensor slides freely along the building boundaries.
• Score: 1.4784044408031098
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Uncrewed Aerial Systems (UASs) have become a growing threat to the security of critical infrastructure, exploiting spatiotemporal gaps in sensor perimeters to infiltrate restricted airspace undetected. We formulate this interaction as a two-player zero-sum differential game between an adversarial UAS and a heterogeneous sensor network of directional and omnidirectional sensors. Unlike earlier game-theoretic approaches that restrict the defender to discrete placement graphs or fixed configurations, we introduce a continuous sensor redeployment technique in which each sensor slides freely along the convex building boundaries. This is enforced via a log-sum-exp smooth approximation that preserves differentiability at polygon vertices, enabling optimization with gradient-based methods. The attacker's best response is computed via a two-step approach combining STP-RRT* for feasible trajectory initialization and nonlinear programming for detection-minimization refinement. The joint optimization converges to a Local Nash Equilibrium (LNE) via alternating bilevel optimization, with analytical first-order stationarity conditions derived for both players, thereby establishing a deployable baseline for heterogeneous sensor placements in CUAS missions.

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