Paper Info
Title
Robot team coordination for target tracking using fuzzy logic controller in game theoretic framework
Abstract
This paper involves a collision free target tracking problem of multi-agent robot system. Target tracking requires team coordination to maintain a desired formation and to keep team-mates and target together. Every team-mate makes decisions on their moving direction that may spoil the tactical position of others and makes the global coordination task nontrivial. The contribution of the paper is twofold. First, the convergence of target tracking is improved by a new game theoretic concept using a semi-cooperative Stackelberg equilibrium point and a new formation component in the individual cost functions. To enhance the robustness, a PD like fuzzy controller tunes the cost function weights directly for the game theoretic solution and helps to achieve a prescribed value of cost function components. Simulation result for target tracking by a three-member robot team is presented.
Year
DOI
Venue
2009
10.1016/j.robot.2008.02.004
Robotics and Autonomous Systems
Keywords
Field
DocType
Game theory,Intelligent robots,Fuzzy control
Convergence (routing),Control theory,Simulation,Computer science,Fuzzy logic,Robustness (computer science),Game theory,Fuzzy control system,Robot,Stackelberg competition
Journal
Volume
Issue
ISSN
57
1
Robotics and Autonomous Systems
Citations 
PageRank 
References 
22
0.96
11
Authors
2
Name
Order
Citations
PageRank
István Harmati1446.49
Krzysztof Skrzypczyk2222.31