scholarly journals Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment

Machines ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 187
Author(s):  
Gang Chen ◽  
Wenqian Xu ◽  
Zixing Li ◽  
Yuqiang Liu ◽  
Xin Liu
Keyword(s):  
Success Rate ◽  
Game Model ◽  
Simulation Experiments ◽  
Pursuit Problem ◽  
Optimal Movement ◽  
Two Stages ◽  
Zero Sum ◽  
Robot Position ◽  
Pursuit Strategy ◽  
Multi Robot

Making full use of the cooperation of multi-robots can improve the success rate of apursuit task. Therefore, this paper proposes a multi-robot cooperative pursuit strategy based on the zero-sum game and surrounding points adjustment. First, a mathematical description of the multi-robot pursuit problem is constructed, and the zero-sum game model is established considering the cooperation of the pursuit robots and the confrontation between the pursuit robots and the escape robot. By solving the game model, the optimal movement strategies of the pursuit robots and the escape robot are obtained. Then, the position adjustment method of the pursuit robots is studied based on the Hungarian algorithm, and the pursuit robots are controlled to surround the escape robot. Based on this, a multi-robot cooperative pursuit strategy is proposed that divides the pursuit process into two stages: pursuit robot position adjustment and game pursuit. Finally, the correctness and effectiveness of the multi-robot cooperative pursuit strategy are verified with simulation experiments. The multi-robot cooperative pursuit strategy allows the pursuit robots to capture the escape robot successfully without conflicts among the pursuit robots. It can be seen from the documented simulation experiments that the success rate of the pursuit task using the strategy proposed in this paper is 100%.

scholarly journals Max-min solution approach for multi-objective matrix game with fuzzy goals

2016 ◽  
Vol 26 (1) ◽  
pp. 51-60 ◽  
Author(s):  
Sandeep Kumar
Keyword(s):  
Linear Programming ◽  
Linear Programming Problem ◽  
Optimization Problem ◽  
Matrix Game ◽  
Game Model ◽  
Solution Approach ◽  
Multi Objective ◽  
Fuzzy Goals ◽  
Fuzzy Goal ◽  
Zero Sum

In this paper, we consider a multi-objective two person zero-sum matrix game with fuzzy goals, assuming that each player has a fuzzy goal for each of the payoffs. The max-min solution is formulated for this multi-objective game model, in which the optimization problem for each player is a linear programming problem. Every developed model for each player is demonstrated through a numerical example.

scholarly journals Effective metrics for multi-robot motion-planning

2018 ◽  
Vol 37 (13-14) ◽  
pp. 1741-1759 ◽  
Author(s):  
Aviel Atias ◽  
Kiril Solovey ◽  
Oren Salzman ◽  
Dan Halperin
Keyword(s):  
Motion Planning ◽  
Success Rate ◽  
Shape Matching ◽  
Equivalence Classes ◽  
Robot Motion ◽  
Robot Motion Planning ◽  
The Novel ◽  
Multi Robot

We study the effectiveness of metrics for multi-robot motion-planning (MRMP) when using rapidly-exploring random tree (RRT)-style sampling-based planners. These metrics play the crucial role of determining the nearest neighbors of configurations and in that they regulate the connectivity of the underlying roadmaps produced by the planners and other properties such as the quality of solution paths. After screening over a dozen different metrics we focus on the five most promising ones: two more traditional metrics, and three novel ones, which we propose here, adapted from the domain of shape-matching. In addition to the novel multi-robot metrics, a central contribution of this work are tools to analyze and predict the effectiveness of metrics in the MRMP context. We identify a suite of possible substructures in the configuration space, for which it is fairly easy: (i) to define a so-called natural distance that allows us to predict the performance of a metric, which is done by comparing the distribution of its values for sampled pairs of configurations to the distribution induced by the natural distance; and (ii) to define equivalence classes of configurations and test how well a metric covers the different classes. We provide experiments that attest to the ability of our tools to predict the effectiveness of metrics: those metrics that qualify in the analysis yield higher success rate of the planner with fewer vertices in the roadmap. We also show how combining several metrics together may lead to better results (success rate and size of roadmap) than using a single metric.

scholarly journals Design of Cascaded and Shifted Fractional-Order Lead Compensators for Plants with Monotonically Increasing Lags

2020 ◽  
Vol 4 (3) ◽  
pp. 37
Author(s):  
Guido Maione
Keyword(s):  
Fractional Order ◽  
Transfer Functions ◽  
Wide Frequency Range ◽  
Frequency Range ◽  
Robust Controller ◽  
Simulation Experiments ◽  
Rational Transfer ◽  
Serial Connection ◽  
Efficiency Performance ◽  
Two Stages

This paper concerns cascaded, shifted, fractional-order, lead compensators made by the serial connection of two stages introducing their respective phase leads in shifted adjacent frequency ranges. Adding up leads in these intervals gives a flat phase in a wide frequency range. Moreover, the simple elements of the cascade can be easily realized by rational transfer functions. On this basis, a method is proposed in order to design a robust controller for a class of benchmark plants that are difficult to compensate due to monotonically increasing lags. The simulation experiments show the efficiency, performance and robustness of the approach.

scholarly journals DIFFERENTIAL GAME WITH A LIFELINE FOR THE INERTIAL MOVEMENTS OF PLAYERS

2021 ◽  
Vol 7 (2) ◽  
pp. 94
Author(s):  
Bahrom T. Samatov ◽  
Ulmasjon B. Soyibboev
Keyword(s):  
Euclidean Space ◽  
Differential Game ◽  
Pursuit Problem ◽  
Solvability Conditions ◽  
Pursuit Evasion ◽  
Attainability Domain ◽  
Evasion Problem ◽  
Pursuit Strategy

In this paper, we study the well-known problem of Isaacs called the "Life line" game when movements of players occur by acceleration vectors, that is, by inertia in Euclidean space. To solve this problem, we investigate the dynamics of the attainability domain of an evader through finding solvability conditions of the pursuit-evasion problems in favor of a pursuer or an evader. Here a pursuit problem is solved by a parallel pursuit strategy. To solve an evasion problem, we propose a strategy for the evader and show that the evasion is possible from given initial positions of players. Note that this work develops and continues studies of Isaacs, Petrosjan, Pshenichnii, Azamov, and others performed for the case of players' movements without inertia.

scholarly journals Pengembangan model permainan untuk pembelajaran kinestetik pada anak tunanetra

2016 ◽  
Vol 4 (1) ◽  
pp. 74
Author(s):  
Riza Efriyanti ◽  
Sumaryanti Sumaryanti
Keyword(s):  
Visual Impairment ◽  
Large Scale ◽  
Development Stage ◽  
Small Scale ◽  
Game Model ◽  
Preliminary Stage ◽  
Kinesthetic Learning ◽  
Analysis Technique ◽  
Effectiveness Trials ◽  
Two Stages

Penelitian ini bertujuan untuk menghasilkan model permainan untuk pembelajaran kinestetikpada anak tunanetra. Pengembangan ini dimodifikasi menjadi dua tahap, yaitu: tahap pendahuluan dan tahap pengembangan. Tahap pendahuluan meliputi (1) melakukan kajian literatur; (2) penelitian relevan;(3) observasi; dan (4) studi pendahuluan. Tahap pengembangan meliputi (1) mengembangkan produk awal; (2) validasi ahli; (3) uji coba skala kecil; (4) uji coba skala besar & uji efektivitas; dan (5) produk operasional. Uji coba skala kecil dilakukan kepada 13 anak di SDLB-A Yaketunis. Uji coba skala besar dan uji efektifitas dilakukan kepada 22anak di SDLB-A Yaketunis, SLB Negri 1 Bantul, dan SLB Negri 1 Kulon Progo. Uji efektifitas menggunakan pra-eksperimen dengan one group pretest-postest. Instrumen pengumpulan data mengunakan kuesioner/angket, lembar observasi dan lembar penilaian permainan. Untuk menganalisis data digunakan teknik analisis data skala Guttman. Hasil akhir dari penelitian adalah sebuah produk berupa model permainan untuk pembelajaran kinestetik pada anak tunanetra. Permainan ini memainkan 6 permainan yaitu: (1) permainan temukan teman, (2) permainan balpin, (3) permainan kereta suara, (4) permainan halangan bunyi, (5) permainan balon zig-zag, dan (6) permainan lingkaran ceria. Hasil uji keefektifan didapatkan bahwa keenam model permainan dinyatakan efektif. Model permainan dikemas kedalam sebuah buku panduan dan DVD.Kata Kunci: pengembangan, modelpermainan, kinestetik, anak tunanetra AbstractThis study aims to produce a model of kinesthetic learning games for children with visual impairment. This development research is modified into two stages: a preliminary stage and development stage. Preliminary stage includes (1) conducting a literature review; (2) relevant research; (3) observations; and (4) a preliminary study. Stages of development include (1) developing initial products; (2) expert validation; (3) small-scale trials; (4) large-scale trials and effectiveness trials; and (5) operational products. A Small-scale trialwas conducted to 13 children in SDLB-A Yaketunis. Large-scale trials and effectiveness trials wereconducted to 22 children in SDLB-A Yaketunis, SLB Negri 1 Bantul and Kulon Progo SLB Negri 1. Effectiveness trials used a pre-experiment test with one group pretest-posttest. Instruments of data collection used questionnaires, observation sheets and game ratings sheets. Guttman Scale Data Analysis technique was used to analyze the data. The final result of this study is a product of kinesthetic learning game model for children with visual impairment. Games model on kinesthetic learning is a game model that was designed for visually impaired children inupper class of SDLB specifications. This model plays 6 games, namely: (1) Find A Friend Game, (2) Balpin Game, (3) Sound Train Game, (4) Sound Obstacle Game, (5) Zig-zag Balloon Game, and (6) Cheerful Circle Game. From the effectiveness trials, it is shown that those six games arepractically effective. The model of packed into a guide book and DVD.Keywords: development, game model, kinesthetic, visual impairment children

The Study on the Communication of the Multi-Robot Polishing System by the ACO Mode

2013 ◽  
Vol 712-715 ◽  
pp. 2264-2267 ◽  
Author(s):  
Miao Yu ◽  
Xin An ◽  
Jing Ji
Keyword(s):  
Communication Protocol ◽  
Parallel Robot ◽  
Robot System ◽  
Serial Robot ◽  
Status Information ◽  
Communication Needs ◽  
The Stability ◽  
Robot Position ◽  
Mutual Communication ◽  
Multi Robot

This paper compiles the program to control the multi-robot polishing system by the ACO (ant colony optimization) mode and adopts the communication protocol between the robots of multi-robot polishing system. Then, based on the multi-robot system which is made up of the MOTOMAN - HP3 serial robot and NPT800 parallel robot, the mutual communication can be accomplished by two robots and the robot position and status information can be transported with programming of the blackboard structure. The experiments show that the communication protocol can enforce communication of the computer between the multi--robot. It can achieve the stability and higher instantaneity. It has met the communication needs of the multi-robot.

IMMUNE-INSPIRED COOPERATIVE MECHANISM WITH REFINED LOW-LEVEL BEHAVIORS FOR MULTI-ROBOT SHEPHERDING

2012 ◽  
Vol 11 (01) ◽  
pp. 1250007 ◽  
Author(s):  
SAZALINSYAH RAZALI ◽  
QINGGANG MENG ◽  
SHUANG-HUA YANG
Keyword(s):  
Selection Process ◽  
Immune Network ◽  
Refined Model ◽  
Safety Zone ◽  
Simulation Experiments ◽  
Immune Systems ◽  
Low Level ◽  
Robot Systems ◽  
With Memory ◽  
Multi Robot

In this paper, immune systems and its relationships with multi-robot shepherding problems are discussed. The proposed algorithm is based on immune network theories that have many similarities with the multi-robot systems domain. The underlying immune-inspired cooperative mechanism of the algorithm is simulated and evaluated. The paper also describes a refinement of the memory-based immune network that enhances a robot's action-selection process. A refined model, which is based on the Immune Network T-cell-regulated — with Memory (INT-M) model, is applied to the dog–sheep scenario. The refinements involves the low-level behaviors of the robot dogs, namely shepherds' formation and shepherds' approach. These behaviors would make the shepherds form a line behind the group of sheep and also obey a safety zone of each flock, thus achieving better control of the flock and minimize flock separation occurrences. Simulation experiments are conducted on the Player/Stage robotics platform.

Costly Predation and the Distribution of Competence

2001 ◽  
Vol 91 (3) ◽  
pp. 475-484 ◽  
Author(s):  
John Conlisk
Keyword(s):  
Bounded Rationality ◽  
Equilibrium Distribution ◽  
Evolutionary Game ◽  
Game Model ◽  
Long Run ◽  
Mixed Equilibrium ◽  
Zero Effect ◽  
Zero Sum

An evolutionary game model shows how an equilibrium distribution of competence may evolve when members of a population prey on one another, but when predatory competence is costly to acquire. Under one interpretation, the competence distribution is an endogenously determined distribution of bounded rationality. An example shows how “tricksters” and “suckers” might coexist in the long run. The analysis leads to a curious result about a mixed equilibrium for a symmetric, zero-sum game. An increase in the costs of one or more competence levels has exactly zero effect on the fraction of the population at those levels. (JEL C79, D89)

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