Multi-robot Navigation with Limited Communication - Deterministic vs Game-Theoretic Networks


Bayram H. , Bozma H. I.

IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Tayvan, 18 - 22 Ekim 2010, ss.1825-1830 identifier identifier

  • Doi Numarası: 10.1109/iros.2010.5649351
  • Basıldığı Şehir: Taipei
  • Basıldığı Ülke: Tayvan
  • Sayfa Sayıları: ss.1825-1830

Özet

This paper presents a novel approach to the navigation of dynamically communicating robots via a bidirectional interaction model between the robot network and the continuous states. First, the robot dynamics is formulated as being dependent on the communication network where two robots if in communication - can access each other's position and goal information. Next, three alternative strategies for establishing the communication network depending on the robots' states are presented: deterministic, game-theoretic and mixed approaches. In the first approach, the network is defined deterministically based on the robots' states and the communication range. The game-theoretic network formation is based on utilizing the conflict between the communication gain and cost. The mixed approach integrates features from deterministic and game-theoretic approaches. An extensive statistical study investigates comparative performance characteristics for exploration, zone and procession type goals.