RBPF Goal Inference & Obfuscation

An observer watches an agent's noisy positions and runs a Rao-Blackwellized particle filter over intent hypotheses (goal position, goal radius, arrival time). In assumed agent mode the agent heads straight to its goal and the belief collapses quickly. In obfuscating agent mode the agent instead steers toward the Chebyshev center of the observer's belief, weaving inside a prescribed tracking envelope — staying ambiguous for as long as the envelope allows. Companion demo for Rao-Blackwellized particle filter for agent's intention inference (IFAC World Congress 2026) and Quantifying Trade-Offs Between Stability and Goal-Obfuscation (IEEE CDC 2026).

Drag the ★ goal or the ■ start at any time — the filter and controller adapt live. Warm dots are the observer's surviving goal hypotheses.