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.
UR - https://www.scopus.com/pages/publications/14544293528
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 -