Game theory as a unifying structure for a variety of robot tasks
Game theory as a unifying structure for a variety of robot tasks
复制标题
博弈论作为各种机器人任务的统一结构
DOI：
--
复制
发表时间：
1993
期刊：
影响因子：
--
通讯作者：
Seth Hutchinson
中科院分区：
文献类型：
--
作者：
Steven M. Lavalle;Seth Hutchinson
提出了使用博弈论作为一种通用的形式主义来表示、比较和洞察一大类机器人问题的解决方案。文中展示了如何将博弈论应用于多机器人协调、高级策略规划、通过操纵和/或传感器规划收集信息以及追逐-躲避场景。考虑了一种非常通用的博弈结构，具有广泛的应用前景。对两个机器人具有独立任务的走廊导航问题进行了初步实验，并利用滚动时间域动态博弈中的平衡点进行协调。
The use of game theory as a general formalism for representing, comparing, and providing insight into solutions to a wide class of robotics problems is proposed. It is shown how game theory can be applied to problems of multiple robot coordination, high-level strategy planning, information gathering through manipulation and/or sensor planning, and pursuit-evasion scenarios. A very general game structure is considered which has broad application. Some preliminary experiments on a two-robot corridor navigation problem in which the robots have independent tasks, and the equilibria in a dynamic game with a rolling time horizon are used for coordination.<<ETX>>