分散ゲームによる通信不要のマルチロボットナビゲーション
Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games
各ロボットが近傍の仲間の行動を推定して分散ゲームを解くことで、明示的な通信なしに障害物や衝突を避けつつ目標へ到達する手法を提案し、ナッシュ均衡への収束を理論的に示した。
著者: Brian Reily, Terran Mott, Hao Zhang
分類: cs.RO, cs.GT
原文アブストラクト
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized manner, with individual robot team members being capable of acting without explicit communication between neighbors. In this paper, we propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots each play their own distributed game by estimating the behavior of their local teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions. We prove theoretically that generated actions approach a Nash equilibrium, which also corresponds to an optimal strategy identified for each robot. We show through extensive simulations that our approach enables decentralized and communication-free navigation by a multi-robot system to a goal position, and is able to avoid obstacles and collisions, maintain connectivity, and respond robustly to sensor noise.
