TY - GEN
T1 - A multi-robot cooperative confrontation game with limited range of motion
AU - Liang, Li
AU - Deng, Fang
AU - Shi, Xiang
AU - Lu, Maobin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - With the development of robotics technology, it is possible for an autonomous robot to accomplish conflict tasks such as target reconnaissance in confrontation environment. Pursuit and evasion conflicts represent challenging problems with important applications in aerospace and robotics. In this paper, we address a novel multi-robot cooperative confrontation game which has three players: a Target, an Attacker and a Defender. The Attacker aims to capture the Target, while avoiding being captured by the faster Defender which is restricted to move in a circular area. The Target cooperates with the Defender to avoid being captured by the Attacker. We characterize some general properties of the multi-robot cooperative confrontation game. Based on the explicit policy method and geometric analysis, the optimal control strategies and the winning conditions for the Attacker are obtained.
AB - With the development of robotics technology, it is possible for an autonomous robot to accomplish conflict tasks such as target reconnaissance in confrontation environment. Pursuit and evasion conflicts represent challenging problems with important applications in aerospace and robotics. In this paper, we address a novel multi-robot cooperative confrontation game which has three players: a Target, an Attacker and a Defender. The Attacker aims to capture the Target, while avoiding being captured by the faster Defender which is restricted to move in a circular area. The Target cooperates with the Defender to avoid being captured by the Attacker. We characterize some general properties of the multi-robot cooperative confrontation game. Based on the explicit policy method and geometric analysis, the optimal control strategies and the winning conditions for the Attacker are obtained.
KW - Cooperative policy
KW - Multi-Robot pursuit-evasion game
KW - Strategy switch
UR - http://www.scopus.com/inward/record.url?scp=85079043243&partnerID=8YFLogxK
U2 - 10.1109/ROBIO49542.2019.8961518
DO - 10.1109/ROBIO49542.2019.8961518
M3 - Conference contribution
AN - SCOPUS:85079043243
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 764
EP - 769
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -