Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms
Multiagent Systems
2014-02-18 v2 Computer Science and Game Theory
Systems and Control
Optimization and Control
Abstract
We consider a class of multi-robot motion planning problems where each robot is associated with multiple objectives and decoupled task specifications. The problems are formulated as an open-loop non-cooperative differential game. A distributed anytime algorithm is proposed to compute a Nash equilibrium of the game. The following properties are proven: (i) the algorithm asymptotically converges to the set of Nash equilibrium; (ii) for scalar cost functionals, the price of stability equals one; (iii) for the worst case, the computational complexity and communication cost are linear in the robot number.
Cite
@article{arxiv.1402.2708,
title = {Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms},
author = {Minghui Zhu and Michael Otte and Pratik Chaudhari and Emilio Frazzoli},
journal= {arXiv preprint arXiv:1402.2708},
year = {2014}
}