A Non Holonomic Potential Game

James Lindsay and Sidney N. Givigi Jr.


Cooperative robotics, Game theory, Potential game


This paper explores a well known problem in cooperative control and cooperative robotics, which is the consensus problem. We approach the problem from the point of view that the solution needs to be implemented on actual wheeled robots that are completely autonomous, thus we are modeling a non holonomic system. This leads us to solving the consensus problem with game theoretical techniques. We model a group of autonomous robots as a potential game, and place restrictions on movement and the process of calculating utility to ensure we have a non holonomic system. We then test our model with a simulation.

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