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

Minghui Zhu, Michael Otte, Pratik Chaudhari, Emilio Frazzoli

    Research output: Contribution to journalConference article

    10 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)
    Article number6907072
    Pages (from-to)1646-1651
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    DOIs
    StatePublished - Sep 22 2014
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    Duration: May 31 2014Jun 7 2014

    All Science Journal Classification (ASJC) codes

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

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