Multirobot Charging Strategies: A Game-Theoretic Approach
Multirobot Charging Strategies: A Game-Theoretic Approach
复制标题
多机器人充电策略：博弈论方法
DOI：
10.1109/lra.2019.2921695
复制
发表时间：
2019
影响因子：
5.2
通讯作者：
S. Bhattacharya
中科院分区：
文献类型：
--
作者：
Tianshuang Gao;S. Bhattacharya
这封信考虑了分配多个机器人到充电站的问题，以最小化所有机器人充电操作所需的总时间。我们首先证明了集中问题是np困难的。然后，我们将收费问题表述为一个非合作博弈。提出了一种求解非合作博弈纯策略纳什均衡的算法，并证明了该算法的唯一性。我们研究了这种平衡的无政府状态的代价作为机器人和站点数量的函数。接下来，我们利用对静态充电站的分析，提出了当充电站是移动的时候降低总成本的策略。最后，通过广泛的仿真分析了所提出的充电站策略的性能。
This letter considers the problem of assigning multiple robots to charging stations in order to minimize the total time required by all robots for the charging operation. We first show that the centralized problem is NP-hard. Then, we formulate the charging problem as a non-cooperative game. We propose an algorithm to obtain the pure strategy Nash equilibrium of the non-cooperative game, and show its uniqueness. We investigate the price of anarchy of this equilibrium as a function of the number of robots and stations. Next, we leverage our analysis on static charging stations to propose strategies for reducing the total cost when the charging stations are mobile. Finally, we analyze the performance of the strategies proposed for the charging stations through extensive simulation.