A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing

In this article, we propose an online 3-D planning algorithm for a drone to race competitively against a single adversary drone. The algorithm computes an approximation of the Nash equilibrium in the joint space of trajectories of the two drones at each time step, and proceeds in a receding horizon...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 36; no. 5; pp. 1389 - 1403
Main Authors:	Spica, Riccardo, Cristofalo, Eric, Wang, Zijian, Montijano, Eduardo, Schwager, Mac
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerial robotics Algorithms Collision avoidance Computer simulation drone racing Drones Game theory Games Iterative methods motion and path planning Nash equilibrium path planning for multiple mobile robot systems Prediction algorithms Predictive control Racetracks Racing Robots Sensitivity Sensitivity enhancement Trajectory vision-based pose estimation
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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