James Lindsay and Sidney N. Givigi Jr.
Cooperative robotics, Game theory , Transferable utility game, Nonholonomic systems
In this paper, we introduce a controller that can be applied to real autonomous robots and is based on game theoretical techniques. We will explore the Transferable Utility game which is one of the many different types of games that make up the class of cooperation games. We set the utility function of this controller so that it can solve the consensus problem. Since we designed the controller to be implemented on robots, we designed the controller to work in a nonholonomic environment. Simulations are used to verify our results.
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