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arXiv · 1402.2708

Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms

Minghui Zhu·Michael Otte·Pratik Chaudhari·Emilio Frazzoli
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Abstract

We consider a class of multi-robot motion planning problems where each robot is associated with multiple objectives and decoupled task specifications. The problems are formulated as an open-loop non-cooperative differential game. A distributed anytime algorithm is proposed to compute a Nash equilibrium of the game. The following properties are proven: (i) the algorithm asymptotically converges to the set of Nash equilibrium; (ii) for scalar cost functionals, the price of stability equals one; (iii) for the worst case, the computational complexity and communication cost are linear in the robot number.

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Minghui Zhu, Michael Otte, Pratik Chaudhari, Emilio Frazzoli. 2014-02-12. Game theoretic controller synthesis for multi-robot motion planning Part I : Trajectory based algorithms. https://arxiv.org/abs/1402.2708

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