@inproceedings{b2999f17421e45759075a04ae8ffbc67,
title = "Game theoretic controller synthesis for multi-robot motion planning Part I: Trajectory based algorithms",
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.",
author = "Minghui Zhu and Michael Otte and Pratik Chaudhari and Emilio Frazzoli",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6907072",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1646--1651",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
address = "United States",
}