Game theory based target following by a team of robots

Skrzypczyk, Krzysztof

doi:10.1109/romoco.2004.240903

Cited by 14 publications

(4 citation statements)

References 7 publications

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“…Tracking has been previously combined with game theory for multi-robot system coordination problems. For instance, Skrzypczyk et al [37] used non-cooperative games to control a team of mobile robots for a target tracking. When multiple equilibria are present, an arbiter based on the min-max method is used to fairly distribute costs among robots.…”

Section: Pedestrian Trackingmentioning

confidence: 99%

Continuous Game Theory Pedestrian Modelling Method for Autonomous Vehicles

Camara¹,

Coşar²,

Bellotto³

et al. 2022

Human Factors in Intelligent Vehicles

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Autonomous Vehicles (AVs) must interact with other road users. They must understand and adapt to complex pedestrian behaviour, especially during crossings where priority is not clearly defined. This includes feedback effects such as modelling a pedestrian's likely behaviours resulting from changes in the AVs behaviour. For example, whether a pedestrian will yield if the AV accelerates, and vice versa. To enable such automated interactions, it is necessary for the AV to possess a statistical model of the pedestrian's responses to its own actions. A previous work demonstrated a proof-of-concept method to fit parameters to a simplified model based on data from a highly artificial discrete laboratory task with human subjects. The method was based on lidar-based person tracking, game theory, and Gaussian process analysis. The present study extends this method to enable analysis of more realistic continuous human experimental data. It shows for the first time how game-theoretic predictive parameters can be fit into pedestrians natural and continuous motion during road-crossings, and how predictions can be made about their interactions with AV controllers in similar real-world settings.

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Section: Pedestrian Trackingmentioning

confidence: 99%

Continuous Game Theory Pedestrian Modelling Method for Autonomous Vehicles

Camara¹,

Coşar²,

Bellotto³

et al. 2022

Human Factors in Intelligent Vehicles

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“…In Skrzypczyk's multi-robot tracking study, single stage normal form of non-zero-sum game has been proposed [9]. The core of the system is based on the non-cooperative game theory method.…”

Section: Introductionmentioning

confidence: 99%

A socially multi-robot target tracking method based on extended cooperative game theory

Dou

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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This paper presents a cooperative, dynamic and complete information game scheme for socially multi-robot tracking. The concept of 'variable order' is introduced to specify the order of trackers' movement. A free competition model for multi-robot system is proposed to compute member robot's trajectory. A set of cost function are derived to evaluate the performance of tracking strategies optimally. The effectiveness of the proposed method has been validated by simulation results.

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“…For those more complex dynamic environments, another methodology of solving coordination problem utilizes a game theory, which is a convenient tool for modeling and solving multi-robot interaction problems. Skrzypczyk [Skrzypczyk, 2004] proposed an architecture of a control system for a real time collision-free movement coordination in a multi-robot environment, performing their navigational tasks by using the normal form games. In [LaValle & Hutchinson, 1994], an approach for analyzing and selecting time-optimal coordination strategies for multiple robots whose configurations were constrained to lie on C-space road map was proposed.…”

Section: Introductionmentioning

confidence: 99%

Multi-Robot Searching using Game-Theory Based Approach

Meng

2008

International Journal of Advanced Robotic Systems

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This paper proposes a game-theory based approach in a multi-target searching using a multi-robot system in a dynamic environment. It is assumed that a rough priori probability map of the targets' distribution within the environment is given. To consider the interaction between the robots, a dynamic-programming equation is proposed to estimate the utility function for each robot. Based on this utility function, a cooperative nonzero-sum game is generated, where both pure Nash Equilibrium and mixed-strategy Equilibrium solutions are presented to achieve an optimal overall robot behaviors. A special consideration has been taken to improve the real-time performance of the game-theory based approach. Several mechanisms, such as event-driven discretization, one-step dynamic programming, and decision buffer, have been proposed to reduce the computational complexity. The main advantage of the algorithm lies in its real-time capabilities whilst being efficient and robust to dynamic environments.

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Game theory based target following by a team of robots

Cited by 14 publications

References 7 publications

Continuous Game Theory Pedestrian Modelling Method for Autonomous Vehicles

Continuous Game Theory Pedestrian Modelling Method for Autonomous Vehicles

A socially multi-robot target tracking method based on extended cooperative game theory

Multi-Robot Searching using Game-Theory Based Approach

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