论文标题
通过分布式游戏分散且无通信的多机器人导航
Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games
论文作者
论文摘要
有效的多机器人团队需要能够在复杂环境中转向目标，以解决诸如搜索和救援等现实世界应用程序。多机器人团队应该能够以完全分散的方式进行操作，而单个机器人团队成员能够在邻居之间明确沟通而无需采取行动。在本文中，我们提出了一个新型的游戏理论模型，该模型可以使分散且无通信的导航到达目标位置。机器人每个人都会通过估计当地队友的行为来玩自己的分布式游戏，以确定使他们朝目标方向移动的行为，同时还避免了障碍并在没有冲突的情况下保持团队的凝聚力。从理论上讲，我们证明了生成的动作接近NASH平衡，这也对应于为每个机器人确定的最佳策略。我们通过广泛的模拟表明，我们的方法可以通过多机器人系统将分散和无通信的导航到达目标位置，并能够避免障碍和碰撞，保持连通性并对传感器噪声做出强烈反应。
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.
