通过对抗性图遍历博弈诱导危险环境中的多机器人协调

James Berneburg, Xuan Wang, Xuesu Xiao, Daigo Shishika
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引用次数: 0

摘要

本文提出了图遍历问题的博弈论表述,并将其应用于机器人在有对手存在的危险环境中移动,如军事和安全应用领域。蓝队机器人在一个由时变图建模的环境中移动,试图以最小的代价达到某个目标,而红队机器人则控制着图的变化方式,以最大限度地降低代价。该问题被表述为随机博弈,因此可以用数字计算纳什均衡策略。我们提供了博弈值的边界,并保证它能解决原始问题。数值模拟证明了这一方法的结果和有效性,特别是显示了双方混合行动的益处,以及有利的协调行为,即蓝色机器人分头行动和/或同步穿越有风险的边缘。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Multi-Robot Coordination Induced in Hazardous Environments through an Adversarial Graph-Traversal Game
This paper presents a game theoretic formulation of a graph traversal problem, with applications to robots moving through hazardous environments in the presence of an adversary, as in military and security applications. The blue team of robots moves in an environment modeled by a time-varying graph, attempting to reach some goal with minimum cost, while the red team controls how the graph changes to maximize the cost. The problem is formulated as a stochastic game, so that Nash equilibrium strategies can be computed numerically. Bounds are provided for the game value, with a guarantee that it solves the original problem. Numerical simulations demonstrate the results and the effectiveness of this method, particularly showing the benefit of mixing actions for both players, as well as beneficial coordinated behavior, where blue robots split up and/or synchronize to traverse risky edges.
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