敵対的グラフ探索ゲームにおけるマルチロボット協調
Multi-Robot Coordination Induced in an Adversarial Graph-Traversal Game
敵対者が存在する危険環境でのロボット群の経路探索を確率ゲームとして定式化し、ナッシュ均衡戦略を数値計算で求め、協調行動の有効性をシミュレーションで示した。
著者: James Berneburg, Xuan Wang, Xuesu Xiao, Daigo Shishika
分類: cs.GT, cs.RO
原文アブストラクト
This paper presents a game theoretic formulation of a graph traversal problem, with applications to robots moving through hazardous environments in the presence of an adversary, as in military and security scenarios. The blue team of robots moves in an environment modeled by a time-varying graph, attempting to reach some goal with minimum cost, while the red team controls how the graph changes to maximize the cost. The problem is formulated as a stochastic game, so that Nash equilibrium strategies can be computed numerically. Bounds are provided for the game value, with a guarantee that it solves the original problem. Numerical simulations demonstrate the results and the effectiveness of this method, particularly showing the benefit of mixing actions for both players, as well as beneficial coordinated behavior, where blue robots split up and/or synchronize to traverse risky edges.
