グローバルゲーム理論に基づく異種ロボットチームのタスク割り当て手法
A Global Games-Inspired Approach to Multi-Robot Task Allocation for Heterogeneous Teams
各タスクに進捗や緊急度を表すグローバル信号を導入し、ゲーム理論のグローバルゲーム枠組みで異種ロボット群のタスク割り当てを確率的に決定する手法を提案した。
著者: Logan Beaver
分類: cs.RO, cs.MA, cs.SY, eess.SY
原文アブストラクト
In this article we propose a game-theoretic approach to the multi-robot task allocation problem using the framework of global games. Each task is associated with a global signal, a real-valued number that captures the task execution progress and/or urgency. We propose a linear objective function for each robot in the system, which, for each task, increases with global signal and decreases with the number assigned robots. We provide conditions on the objective function hyperparameters to induce a mixed Nash equilibrium, i.e., solutions where all robots are not assigned to a single task. The resulting algorithm only requires the inversion of a matrix to determine a probability distribution over the robot assignments. We demonstrate the performance of our algorithm in simulation and provide direction for applications and future work.
