Research on Price-Based Autonomous Group Robot Resource Allocation Strategy in Emergency Scenarios

Abstract

In unknown and dynamic emergency scenarios, achieving the collaboration of autonomous group robots for search and rescue operations can be regarded as resource allocation among robots at the micro-level. The resource allocation problem for autonomous group robots can be abstracted as a non-cooperative game, and in a dynamically changing environment, pricing becomes a critical factor for effective resource allocation.This paper starts from the perspectives of uniform pricing strategy and differential pricing strategy, respectively. It establishes master-slave game models for these two pricing strategies to describe resource allocation between resource providers and resource consumers. Furthermore, the paper utilizes game theory to model the competition for computational resources between resource-providing robots and resource-consuming robots, and solves for their Nash equilibrium solution, demonstrating its existence and uniqueness.Additionally, performance analysis and numerical analysis are conducted on both the uniform pricing model and the differential pricing model, thereby highlighting the advantages and disadvantages of different pricing models for dynamic adjustment of pricing strategies. Meanwhile, the differential pricing model introduces a fairness factor to enhance collaboration between robots and prevent resource accumulation. Simulation results indicate that under the same CPU cycle, the average processing time is shorter in the uniform pricing model, while in the differential pricing model, the resource-providing robots yield higher profits. Hence, the suitable pricing strategy can be chosen based on specific requirements.Simultaneously, as the CPU cycle increases, the cost for resource-consuming robots decreases, average processing time reduces, and the payment enthusiasm of resource-consuming robots increases. Therefore, the CPU cycle is related to the overall well-being of the autonomous group robot system.