Robot team coordination for target tracking using fuzzy logic controller in game theoretic framework

Robotics and Autonomous Systems

Volumn 57, Issue 1, 2009, Pages 75-86

  Harmati, István ^a   Skrzypczyk, Krzysztof ^b  

^a BUDAPEST UNIVERSITY OF TECHNOLOGY AND ECONOMICS   (Hungary)

^b SILESIAN UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

Fuzzy control; Game theory; Intelligent robots

Indexed keywords

CONTROL THEORY; COST FUNCTIONS; FUZZY CONTROL; FUZZY INFERENCE; FUZZY LOGIC; PROBABILITY DENSITY FUNCTION; ROBOTICS; ROBOTS; TARGET TRACKING; TARGETS;

FUNCTION COMPONENTS; FUZZY CONTROLLERS; FUZZY LOGIC CONTROLLERS; GLOBAL COORDINATIONS; MOVING DIRECTIONS; MULTI AGENTS; ROBOT SYSTEMS; ROBOT TEAMS; SIMULATION RESULTS; STACKELBERG EQUILIBRIUMS; TEAM COORDINATIONS; TRACKING PROBLEMS;

GAME THEORY;

EID: 56349143104     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2008.02.004     Document Type: Article

References (24)

1. Owen G. Game theory. 3rd edition (1995), Academic Press
2. Basar T., and Olsder G.J. Dynamic Noncooperative Game Theory. 2nd edition (1999), SIAM
3. Bilbao J.M. Cooperative games on combinatorial structures. Mathematical Programming and Operations Research. Theory and Decision Library, Series C: GAme Theory vol. 26 (2000), Kluwer Academic Publishers
4. Petrosjan L.A. Differential game of pursuit. Series on Optimization vol. 2 (1993), World Scientific
5. ∞-optimal control and related minimax design problems - A dynamic game approach. Systems and Control: Foundations and Applications (1991), CRC Press
6. S.M. LaValle, A game theoretic framework for robot motion planning, Ph.D. Thesis, University of Illinois at Urbana-Champaign, 1995
7. Cruz J.B., Simaan M.A., Gacic A., and Liu Y. Moving horizon game theoretic approaches for control strategies in a military operation. IEEE Transactions on Aerospace and Electronic Systems 38 3 (2002) 989-999
8. Liu Y., Simaan M.A., and Cruz J.B. An application of dynamic nash taks assignment strategies to multi-team military air operations. Automatica 39 (2003) 1469-1478
9. K. Skrzypczyk, Game theory based target following by a team of robots, in: Proceedings of Forth International Workshop on Robot Motion and Control, 2004, pp. 91-96
10. Lian F.L., and Murray R. Real-time trajectory generation for cooperative path planning of multi vehicle systems. IEEE Conference on Decision and Control (2002) 3766-3769
11. Ogren P., Egerstedt M., and Hu X. A control lyapunov function approach to multiagent coordination. IEEE Transactions on Robotics and Automation 18 5 (2002) 847-851
12. Savkin A.V. Coordinated collective motion of groups of autonomous mobile robots: Analysis of vicsek's model. IEEE Transactions on Automatic Control 49 6 (2004) 981-983
13. P. Ogren, Formations and obstacle avoidance in mobile robot control, Ph.D. Thesis, Royal Institute of Technology, Stockholm, Sweden, 2003
14. Lawton J.R.T., Beard R.W., and Young B.J. A decentralized approach to formation maneuvers. IEEE Transactions on Robotics and Automation 19 6 (2003) 933-941
15. H. Yamaguchi, A distributed motion coordination strategy for multiple nonholonomic mobile robots in cooperative hunting operations, in: Proceeding of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, USA, 2002, pp. 2984-2991
16. Yamaguchi H. A cooperative hunting bahavior by mobile robot troops. The International Journal of Robotics Research 18 8 (1999) 931-940
17. J. Desai, J.P. Ostrowski, V. Kumar, Controlling formations of multiple mobile robots, in: Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998, pp. 2864-2869
18. Tanner H.G., Pappas G.J., and Kumar V. Leader-to-formation stability. IEEE Transactions on Robotics and Automation 20 3 (2004) 443-455
19. Desai J., Ostrowski J.P., and Kumar V. Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation 17 6 (2001) 905-908
20. I. Harmati, Multiple robot coordination for target tracking using semi-cooperative stackelberg equilibrium, in: IEE International Control Conference, 2006, IBSN: 0947649549
21. Lantos B. Fuzzy systems and genetic algorithms. Muegyetemi kiado (2002)
22. Hwang K., Tan S., and Chen C. Cooperative strategy based on adaptive q-learning for robot soccer systems. IEEE Transactions on Fuzzy Systems 12 4 (2004)
23. E. Horváth, Multi-ágensü robotrendszer tervezése közös stratégiai cél eléréséhez, Master's Thesis, Budapest University of Technology and Economics, 2005
24. F.E. Schneider, D. Wildermuth, Using an extended kalman filter for relative localisation in moving robot formation, in: 4th International Workshop on Robot Motion and Control, 2004, pp. 85-90