Game theory based target following by a team of robots

K. Skrzypczyk

doi:10.1109/romoco.2004.240903

Game theory based target following by a team of robots

K. Skrzypczyk

Department of Automatic Control and Robotics (RAU/RAU3)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Citations (Scopus)

Abstract

In this paper a problem of tracking a moving target by a team of mobile robots is presented. A method of control of individual team-mates based on non-zero sum, one-stage game in a normal form is proposed. An architecture of the control system, with a real-time planner based on centralized sensory system is presented in the paper. The use of non-cooperative solution concepts like the Nash equilibrium and the min-max safety strategy is discussed. An arbiter module is used to provide unique control for individual team-mates, and to ensure "fair" distribution of costs among roots. Results of simulations that were carried out are also presented to show effectiveness of proposed approach.

Original language	English
Title of host publication	Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04
Publisher	Wydawnictwo Politechniki Poznanskiej
Pages	91-96
Number of pages	6
ISBN (Print)	8371432720, 9788371432729
DOIs	https://doi.org/10.1109/romoco.2004.240903
Publication status	Published - 2004
Event	Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04 - Puszczykowo, Poland Duration: 17 Jun 2004 → 20 Jun 2004

Publication series

Name	Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04

Conference

Conference	Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04
Country/Territory	Poland
City	Puszczykowo
Period	17/06/04 → 20/06/04

ASJC Scopus subject areas

General Engineering

Access to Document

10.1109/romoco.2004.240903

Cite this

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title = "Game theory based target following by a team of robots",

abstract = "In this paper a problem of tracking a moving target by a team of mobile robots is presented. A method of control of individual team-mates based on non-zero sum, one-stage game in a normal form is proposed. An architecture of the control system, with a real-time planner based on centralized sensory system is presented in the paper. The use of non-cooperative solution concepts like the Nash equilibrium and the min-max safety strategy is discussed. An arbiter module is used to provide unique control for individual team-mates, and to ensure {"}fair{"} distribution of costs among roots. Results of simulations that were carried out are also presented to show effectiveness of proposed approach.",

author = "K. Skrzypczyk",

year = "2004",

doi = "10.1109/romoco.2004.240903",

language = "English",

isbn = "8371432720",

series = "Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04",

publisher = "Wydawnictwo Politechniki Poznanskiej",

pages = "91--96",

booktitle = "Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04",

note = "Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04 ; Conference date: 17-06-2004 Through 20-06-2004",

}

Skrzypczyk, K 2004, Game theory based target following by a team of robots. in Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04. Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04, Wydawnictwo Politechniki Poznanskiej, pp. 91-96, Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04, Puszczykowo, Poland, 17/06/04. https://doi.org/10.1109/romoco.2004.240903

Game theory based target following by a team of robots. / Skrzypczyk, K.
Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04. Wydawnictwo Politechniki Poznanskiej, 2004. p. 91-96 (Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Game theory based target following by a team of robots

AU - Skrzypczyk, K.

PY - 2004

Y1 - 2004

N2 - In this paper a problem of tracking a moving target by a team of mobile robots is presented. A method of control of individual team-mates based on non-zero sum, one-stage game in a normal form is proposed. An architecture of the control system, with a real-time planner based on centralized sensory system is presented in the paper. The use of non-cooperative solution concepts like the Nash equilibrium and the min-max safety strategy is discussed. An arbiter module is used to provide unique control for individual team-mates, and to ensure "fair" distribution of costs among roots. Results of simulations that were carried out are also presented to show effectiveness of proposed approach.

AB - In this paper a problem of tracking a moving target by a team of mobile robots is presented. A method of control of individual team-mates based on non-zero sum, one-stage game in a normal form is proposed. An architecture of the control system, with a real-time planner based on centralized sensory system is presented in the paper. The use of non-cooperative solution concepts like the Nash equilibrium and the min-max safety strategy is discussed. An arbiter module is used to provide unique control for individual team-mates, and to ensure "fair" distribution of costs among roots. Results of simulations that were carried out are also presented to show effectiveness of proposed approach.

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U2 - 10.1109/romoco.2004.240903

DO - 10.1109/romoco.2004.240903

M3 - Conference contribution

AN - SCOPUS:14544293528

SN - 8371432720

SN - 9788371432729

T3 - Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04

SP - 91

EP - 96

BT - Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04

PB - Wydawnictwo Politechniki Poznanskiej

T2 - Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo'04

Y2 - 17 June 2004 through 20 June 2004

ER -

Game theory based target following by a team of robots

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