Game theory as a unifying structure for a variety of robot tasks

摘要

The use of game theory as a general formalism for representing, comparing, and providing insight into solutions to a wide class of robotics problems is proposed. It is shown how game theory can be applied to problems of multiple robot coordination, high-level strategy planning, information gathering through manipulation and/or sensor planning, and pursuit-evasion scenarios. A very general game structure is considered which has broad application. Some preliminary experiments on a two-robot corridor navigation problem in which the robots have independent tasks, and the equilibria in a dynamic game with a rolling time horizon are used for coordination.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>