Robust Trajectory Execution for Multi-robot Teams Using Distributed Real-time Replanning

2019 ◽  
pp. 167-181 ◽  
Author(s):  
Baskın Şenbaşlar ◽  
Wolfgang Hönig ◽  
Nora Ayanian
Keyword(s):  
Real Time ◽  
Robot Teams ◽  
Multi Robot

scholarly journals Multi-Robot Searching using Game-Theory Based Approach

10.5772/6232 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 44 ◽  
Author(s):  
Yan Meng
Keyword(s):  
Game Theory ◽  
Dynamic Programming ◽  
Utility Function ◽  
Real Time ◽  
Dynamic Environment ◽  
Equilibrium Solutions ◽  
Strategy Equilibrium ◽  
The Game Theory ◽  
Target Searching ◽  
Multi Robot

This paper proposes a game-theory based approach in a multi–target searching using a multi-robot system in a dynamic environment. It is assumed that a rough priori probability map of the targets' distribution within the environment is given. To consider the interaction between the robots, a dynamic-programming equation is proposed to estimate the utility function for each robot. Based on this utility function, a cooperative nonzero-sum game is generated, where both pure Nash Equilibrium and mixed-strategy Equilibrium solutions are presented to achieve an optimal overall robot behaviors. A special consideration has been taken to improve the real-time performance of the game-theory based approach. Several mechanisms, such as event-driven discretization, one-step dynamic programming, and decision buffer, have been proposed to reduce the computational complexity. The main advantage of the algorithm lies in its real-time capabilities whilst being efficient and robust to dynamic environments.

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