Abstract
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.
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© 2004 Springer-Verlag Berlin Heidelberg
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Skrzypczyk, K. (2004). Multi-robot Coordination Based on Cooperative Game. In: Rutkowski, L., Siekmann, J.H., Tadeusiewicz, R., Zadeh, L.A. (eds) Artificial Intelligence and Soft Computing - ICAISC 2004. ICAISC 2004. Lecture Notes in Computer Science(), vol 3070. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24844-6_123
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DOI: https://doi.org/10.1007/978-3-540-24844-6_123
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22123-4
Online ISBN: 978-3-540-24844-6
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