Path Planning of Multi-Robot Fish Based on Cooperative Game Model

2013 ◽  
Vol 341-342 ◽  
pp. 940-944
Author(s):  
Xue Lei Jia ◽  
Xu Qiong Yang ◽  
Yan Song Deng
Keyword(s):  
Path Planning ◽  
Cooperative Game ◽  
High Efficiency ◽  
Optimal Path ◽  
Robotic Fish ◽  
Planning Theory ◽  
Game Model ◽  
Robot Fish ◽  
Cooperative Game Model ◽  
Multi Robot

In order to improve the sense of cooperation of robotic fishes between each other to complete the task with high efficiency, this paper presents a path planning method for multi-robot fish based on the cooperative game model. With a mathematical model established on the cooperative game which is based on the game theory, the robotic fish in this system corresponds to the other participants in the game, benefit function of the game player on the cooperation model of multi-robot fish path construction is studied in this paper, which gets system Pareto optimal solution, then getting the optimal path of the entire system. Using the above method, the authors simulate and analyze on the robotic fish in water 2D simulation platform, and to use Matlab to simulate robot fishs track. The results of analysis indicate: Applying the path planning theory in the multi-robot fish movement system is effective and feasible, and that avoids planning only a single robotic fishs optimal path in the system, while leaving the movement of system in the beneath coordination.

Multi-Robot Fish Path Planning Based on the Modified A* Algorithm

2014 ◽  
Vol 568-570 ◽  
pp. 1054-1058 ◽  
Author(s):  
Qiang Hong ◽  
Mei Xiao Chen ◽  
Yan Song Deng
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Experimental Results ◽  
Robot Path Planning ◽  
A Algorithm ◽  
Optimal Path Planning ◽  
2D Simulation ◽  
Robot Fish ◽  
Robot Path ◽  
Multi Robot

Based on improved A* algorithm, this paper proposes the optimal path planning of robot fish in globally known environment, so as to achieve better coordination between the robot fish by means of improving their path planning. In the known obstacle environment which is rasterized, target nodes are generated via smoothing A* algorithm. The unnecessary connection points are removed then and the path is smoothed at the turning points. That improved algorithm, in combination with distributed scroll algorithms, is applied to multi-robot path planning in an effort to optimize the path with the avoidance of collision. The experimental results on the 2D simulation platform have verified the feasibility of that method.

Two-Stage Non-Cooperative Game Model for Vertical Handoffs in Heterogeneous Wireless Networks

2021 ◽  
pp. 90-114
Author(s):  
Pramod Kumar Goyal ◽  
Pawan Singh
Keyword(s):  
Game Theory ◽  
Wireless Networks ◽  
Cooperative Game ◽  
Heterogeneous Wireless Networks ◽  
Substantial Reduction ◽  
Game Model ◽  
Two Stage ◽  
Vertical Handoffs ◽  
Cooperative Game Model ◽  
Selection Of

In a heterogeneous wireless network (HWN) environment, performing an efficient vertical handoff requires the efficient qualitative evaluation of all stakeholders like wireless networks (WN) and mobile users (MU) and mutual selection of best WN-MU. In the literature, most of the work deals with both these requirements jointly in the techniques proposed by them for the vertical handoffs (VHO) in HWNs, leaving very little scope to manipulate the above requirements independently. This may result in inefficient vertical handoffs. Hence, this chapter proposed a generalized two-stage two players, iterative non-cooperative game model. This model presents a modular framework that separates the quantitative evaluation of WNs and MUs (at Stage 1) from the game formulation and solution (at Stage 2) for mutual selection of best WN-MU pair for VHO. The simulation results show a substantial reduction in the number of vertical handoffs with the proposed game theory-based two-stage model as compared to a single-stage non-game theory method like multiple attribute decision making.

Benefits Assignment Mechanism for Construction Machinery Supply Chain Based on Improved Cooperative Game Model

2010 ◽  
Vol 143-144 ◽  
pp. 971-975
Author(s):  
Xin Ma
Keyword(s):  
Supply Chain ◽  
Cooperative Game ◽  
Correction Factor ◽  
Decisive Role ◽  
Game Model ◽  
Construction Machinery ◽  
Value Model ◽  
Weight Correction ◽  
Stable Development ◽  
Cooperative Game Model

Benefits assignment in the construction machinery supply chain business cooperation is the crucial and the most prominent conflicts issue, it plays a decisive role on sustained and stable development of cooperative relations. In this paper, the cooperative game theory and methods applied to the benefit assignment in the construction machinery supply chain management, and on this basis, the benefits of various cooperative enterprises are assigned by a comprehensive cooperative game model with the Shapley value model including risk of correction factor and the investment weight correction factor according to investment in the construction machinery supply chain, while a numerical example to demonstrate the method of science and rationality.

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