Halftone Mass Games by Fixed Number of Mobile Robots

Distributed Hybrid Controllers for Multi‐Agent Mass Games By A Variable Number of Player Agents

“…Furthermore, comparing with the formations by the existing controllers in [19], it turns out that the proposed controllers have much better performance (approximately up to 8.2 dB). The reason is that the proposed controllers evacuate unnecessary agents for displaying the reference images, while the existing Table II shows the numbers of the players in the resulting formations, and they are different for each reference image.…”

“…As a final remark of this section, the difference from the existing results should be noted. To our best knowledge, the mass game problem has never been proposed by the other authors, and the only result is our earlier solution in [19]. This paper presents an extension of the result [19], but develops sophisticated controllers which drastically improve the performance.…”

“…To our best knowledge, the mass game problem has never been proposed by the other authors, and the only result is our earlier solution in [19]. This paper presents an extension of the result [19], but develops sophisticated controllers which drastically improve the performance. The controllers in [19] are nonhybrid ones for the mass game with a fixed number of player agents, and let all agents participate in the mass game even for a bright image which only needs a few agents.…”

“…Table shows the PSNR values of the resulting formations. For comparison, the PSNR values for several halftone images and the formations by the existing method in , which are defined in the same way as above, are also provided in the table. Here, μ :=256 and ν :=256, and the halftone images are given by applying the standard method called the error diffusion to the downsampled μ × ν original image.…”

“…This paper presents an extension of the result , but develops sophisticated controllers which drastically improve the performance. The controllers in are nonhybrid ones for the mass game with a fixed number of player agents, and let all agents participate in the mass game even for a bright image which only needs a few agents. This results in a fatal drawback that the brightness of the resulting image does not agree with that of the given image.…”