Game theoretic controller synthesis for multi-robot motion planning Part I: Trajectory based algorithms

Minghui Zhu, Michael Otte, Pratik Chaudhari, Emilio Frazzoli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1646-1651
Number of pages6
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period5/31/146/7/14

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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