Nash strategies for pursuit-evasion differential games involving limited observations

Lin, Wei; Qu, Zhihua; Simaan, Marwan A.

doi:10.1109/taes.2014.130569

Cited by 57 publications

(2 citation statements)

References 19 publications

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“…As an alternative, game theory optimizes the action of each AGV from the perspective of group performance to achieve the Nash equilibrium (NE) of group OCS, thereby improving group performance [17,18]. In particular, differential games can quantify the dynamic interaction and confrontation process between multi-AGV, which are often used to solve coordination control problems [19], such as pursuit-evasion (PE) [20] and formation control problems [21]. A coordination collision avoidance problem is converted into a differential game for the first time, which introduces collision avoidance targets into the game model [22].…”

Section: Introductionmentioning

confidence: 99%

Optimal coordination in logistics warehousing with sensing and communication limits: A distributed differential game approach

Xue,

Zhan,

Chen

et al. 2023

Asian Journal of Control

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Optimal coordination is essential for multi‐automated guided vehicle (AGV) systems, particularly in logistic transportation cases, where the system task completion time needs to be minimized, with the guarantee of safe operation. This is because an optimal coordination strategy (OCS), if achieved, can significantly improve the transportation system's efficiency. In this paper, to deal with the dynamic interaction process among AGVs, and sensing and communication range limits, we formulate the optimal coordination problem into a distributed differential game (DDG) framework, where individual AGVs only use information communicated from nearby AGVs to design their optimal operation trajectories. This helps to significantly reduce the computational and communication requirements for the multi‐AGV logistic transportation systems. Targeting operation safety and working efficiency requirements, we incorporate collision avoidance and trajectory optimization objectives into the proposed framework. It is shown that local OCS, obtained by solving the DDG problem for each AGV, will converge to the global Nash equilibrium, which represents the most efficient operating condition for the entire logistic transportation system. Finally, the efficacy of the proposed method is demonstrated, based on simulations and experiments, benchmarked with existing logistic warehousing planning and differential game methods. Compared with conventional methods, the proposed framework successfully helps reduce the task completion time by up to 16%.

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Section: Introductionmentioning

confidence: 99%

Optimal coordination in logistics warehousing with sensing and communication limits: A distributed differential game approach

Xue,

Zhan,

Chen

et al. 2023

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…[4] researched how to estimate an unknown target that moves erratically randomly by using the Extended Kalman Filter and pseudo-measurement. According to controlling pursuers, W. Lin [5] has studied the pursuitevasion problem based on game theory with limited observations. A study was conducted on this problem using one fixed camera and one UAV to track a single target, and a method to track a moving object while observing it with two cameras was proposed [6].…”

Section: Introductionmentioning

confidence: 99%

Control of Multi-Robots with Monocular Camera for Chasing a Moving Object Using Pseudo-Measurements

Okamoto,

Sawada

2023

Stochastic Systems Theory and its Applications (SSS)

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This paper proposes a multi-robot system to estimate the position of an unknown moving object and track it. Concerning tracking mobile objects, it is important to know where the target is. To recognize the target, we consider attaching a monocular camera to each robot. The target's position is calculated in two directions of the target from robots. However, since the camera's information includes observation noises, it is difficult to use simply calculated positions to track the target. In this research, we employed an extended Kalman filter to estimate the position of a moving object. In addition, the estimation accuracy was improved by introducing pseudo-measurement. Each robot track target by optimal control based on the differential game theory. If the target and robots align, the noise is amplified because of triangulation. To avoid this situation, we employed virtual springs to control multi-robots formationFinally, numerical simulations in a two-dimensional plane were performed to verify the usefulness of this method.

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Optimal pursuit strategies for multi‐pursuer single‐evader games based on cooperative tracking

Zhou,

Li,

Sheng

et al. 2024

Optim Control Appl Methods

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This paper investigates a multi‐pursuer single‐evader nonzero‐sum differential game. Unlike traditional treatments, cooperative tracking is considered to design the optimal pursuit strategy by introducing a novel weighted topology and a scalar coupling gain. First, the distributed control strategy is designed based on the Hamilton–Jacobi–Isaacs (HJI) under the nonzero‐sum differential game. Then the modified LQR‐based cooperative tracking strategy is applied to achieve cooperativity among all the pursuers. The interception condition is also analyzed using a coupling gain based on the Laplacian matrix. Several illustrative examples under different scenarios are presented, and the results show that the pursuers with the proposed strategy can successfully intercept the evader.

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Nash strategies for pursuit-evasion differential games involving limited observations

Cited by 57 publications

References 19 publications

Optimal coordination in logistics warehousing with sensing and communication limits: A distributed differential game approach

Optimal coordination in logistics warehousing with sensing and communication limits: A distributed differential game approach

Control of Multi-Robots with Monocular Camera for Chasing a Moving Object Using Pseudo-Measurements

Optimal pursuit strategies for multi‐pursuer single‐evader games based on cooperative tracking

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