Title :
A game theoretical representation for the rendezvous problem
Author :
Lindsay, James ; Givigi, Sidney N.
Author_Institution :
Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, ON, Canada
Abstract :
In this paper, we explore the application of Transferable Utility games, which is one of the many different types of games that make up the class of cooperative games, to the rendezvous problem. We consider an environment with multiple robots, wherein the objective is for them to agree in a decentralized manner on a rendezvous point in a non holonomic environment. The utility functions to be used by the controllers is such that they are shown to converge to a solution that leads all the robots to the objective. The paper also offers a mathematical proof of convergence for the proposed algorithm. Finally, simulations and experiments confirm our results.
Keywords :
convergence; decentralised control; game theory; multi-robot systems; utility theory; convergence; cooperative games; decentralized agreement; game theoretical representation; mathematical proof; multiple robot environment; nonholonomic environment; rendezvous point; rendezvous problem; transferable utility games; utility function; Convergence; Equations; Games; Mathematical model; Robot kinematics; Vectors; Cooperative robotics; game theory; non holonomic systems; transferable utility game;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2012 IEEE International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-1-4673-1713-9
Electronic_ISBN :
978-1-4673-1712-2
DOI :
10.1109/ICSMC.2012.6378162
