The paper addresses the problem of a real time collision-free movement coordination in a multi-robot environment. An architecture of the control system that is designed to control a movement of a team of mobile robots performing their navigational tasks is presented. The proposed approach to the problem of coordination utilize the normal form games. The cooperative concept of solution that provides a "fair" distribution of costs is used. An arbiter was introduced to provide unique solution when multiple ones exist. Results of simulation of the proposed method, made for two robots are presented.
CITATION STYLE
Skrzypczyk, K. (2004). Multi-robot coordination based on cooperative game. In Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) (Vol. 3070, pp. 798–803). Springer Verlag. https://doi.org/10.1007/978-3-540-24844-6_123
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