Multi-robot coordination based on cooperative game

The paper addresses the problem of a real time collision-free movement coordination in a multi-robot environment. An architecture of the control system that is designed to control a movement of a team of mobile robots performing their navigational tasks is presented. The proposed approach to the problem of coordination utilize the normal form games. The cooperative concept of solution that provides a "fair" distribution of costs is used. An arbiter was introduced to provide unique solution when multiple ones exist. Results of simulation of the proposed method, made for two robots are presented.