An Algorithm for Multi-robot Planning: SGInfiniteVI

In this paper we introduce an efficient path planning algorithm called SGInfiniteVI so the resulting path solution facilitates for robots the accomplishment of their tasks. The algorithm is based on the dynamic programming and deals with the problem of distributed equilibrium computation and selecti...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:2010 IEEE/WIC/ACM International Conference on Web Intelligence and Intelligent Agent Technology Ročník 2; s. 141 - 148
Hlavní autoři: Hamila, Mohamed Amine, Strugeon, Emmanuelle Grislin-le, Mandiau, Rene, Mouaddib, Abdel-Illah
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.08.2010
Témata:
Game theory
Games
Heuristic algorithms
Markov processes
Multi-agent Planning
Nash equilibrium
Planning
Robot kinematics
Stochastic Games
Stochastic processes
ISBN:9781424484829, 1424484820
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Popis
Shrnutí:In this paper we introduce an efficient path planning algorithm called SGInfiniteVI so the resulting path solution facilitates for robots the accomplishment of their tasks. The algorithm is based on the dynamic programming and deals with the problem of distributed equilibrium computation and selection in general-sum stochastic games with infinite horizon. Our approach proposes three Nash selection functions (in case of multiplicity of Nash equilibria) and obtains its benefits by pointing out experimentally which function is the most suitable to favor better interaction between robots. Experiments were conducted on the classical box-pushing problem, with several mobile robots moving objects in dynamic environments.
ISBN:9781424484829
1424484820
DOI:10.1109/WI-IAT.2010.128