Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
A game of drones - game theoretic approaches for multi-robot task allocation in security missions
Year:2017
Research Areas
  • Automatic
Information
Abstract
This work explores the potential of game theory to solve the task allocation problem in multi-robot missions. The problem considers a swarm with dozens of drones that only know their neighbors, as well as a mission that consists of visiting a series of locations and performing certain activities. Two algorithms have been developed and validated in simulation: one competitive and another cooperative. The first one searches the best Nash equilibrium for each conflict where multiple UAVs compete for multiple tasks. The second one establishes a voting system to translate the individual preferences into a task allocation with social welfare. The results of the simulations show both algorithms work under the limitation of communications and the partial information, but the competitive algorithm generates better allocations than the cooperative one
International
Si
Congress
ROBOT 2017: Third Iberian Robotics Conference
960
Place
Reviewers
Si
ISBN/ISSN
978-3-319-70833-1
Start Date
22/11/2017
End Date
24/11/2017
From page
855
To page
866
Advances in Intelligent Systems and Computing book series (AISC, volume 693)
Participants
  • Autor: Kala Garapati (Universidad Politécnica de Madrid)
  • Autor: Juan Jesus Roldan Gomez (UPM)
  • Autor: Mario Andrei Garzon Oviedo (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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