Game theory based target following by a team of robots

In this paper a problem of tracking a moving target by a team of mobile robots is presented. A method of control of individual teammates based on non-zero sum, one-stage game in a normal form is proposed. 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 teammates, 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.