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    Wyświetlanie 1-3 z 3
    Tytuł:
    Non-cooperative game approach to multi-robot planning
    Autorzy:
    Gałuszka, A.
    Świerniak, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/908521.pdf
    Data publikacji:
    2005
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    zagadnienie projektowe
    robot wielofunkcyjny
    gra niekooperatywna
    planowanie kompleksowe
    planning problems
    multi-robot environment
    STRIPS language
    non-cooperative games
    planning complexity
    Opis:
    A multi-robot environment with a STRIPS representation is considered. Under some assumptions such problems can be modelled as a STRIPS language (for instance, a Block World environment) with one initial state and a disjunction of goal states. If the STRIPS planning problem is invertible, then it is possible to apply the machinery for planning in the presence of incomplete information to solve the inverted problem and then to find a solution to the original problem. In the paper a planning algorithm that solves the problem described above is proposed and its computational complexity is analyzed. To make the plan precise, non-cooperative strategies are used.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2005, 15, 3; 359-367
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control of a Team of Mobile Robots Based on Non-cooperative Equilibria with Partial Coordination
    Autorzy:
    Skrzypczyk, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/908483.pdf
    Data publikacji:
    2005
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    system wielorobotowy
    planowanie ruchu
    teoria gier
    multi-robot systems
    motion planning
    game theory
    Opis:
    In this work we present an application of the concept of non-cooperative game equilibria to the design of a collision free movement of a team of mobile robots in a dynamic environment. We propose the solution to the problem of feasible control synthesis, based on a partially centralized sensory system. The control strategy based on the concept of non-cooperative game equilibria is well known in the literature. It is highly efficient through phases where the solution is unique. However, even in simple navigation problems, it happens that multiple equilibria occur, which incurs a problem for control synthesis and may lead to erroneous results. In this paper we present a solution to this problem based on the partial centralization idea. The coordinator module is incorporated into the system and becomes active when multiple equilibria are detected. The coordination method includes a ``fair arbiter'' for the selection of an appropriate equilibrium solution. Simulation studies of the proposed methodology were carried out for 2, 3 and 5 robots, and their results are presented.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2005, 15, 1; 89-97
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    D* Extra Lite: A dynamic A* with search-tree cutting and frontier-gap repairing
    Autorzy:
    Przybylski, M.
    Putz, B.
    Powiązania:
    https://bibliotekanauki.pl/articles/329769.pdf
    Data publikacji:
    2017
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    shortest path planning
    incremental heuristic search
    mobile robot navigation
    video game
    planowanie najkrótszej ścieżki
    wyszukiwanie heurystyczne
    nawigacja robota mobilnego
    gra wideo
    Opis:
    Searching for the shortest-path in an unknown or changeable environment is a common problem in robotics and video games, in which agents need to update maps and to perform re-planning in order to complete their missions. D* Lite is a popular incremental heuristic search algorithm (i.e., it utilizes knowledge from previous searches). Its efficiency lies in the fact that it re-expands only those parts of the search-space that are relevant to registered changes and the current state of the agent. In this paper, we propose a new D* Extra Lite algorithm that is close to a regular A*, with reinitialization of the affected search-space achieved by search-tree branch cutting. The provided worst-case complexity analysis strongly suggests that D* Extra Lite’s method of reinitialization is faster than the focused approach to reinitialization used in D* Lite. In comprehensive tests on a large number of typical two-dimensional path-planning problems, D* Extra Lite was 1.08 to 1.94 times faster than the optimized version of D* Lite. Moreover, while demonstrating that it can be particularly suitable for difficult, dynamic problems, as the problem-complexity increased, D* Extra Lite’s performance further surpassed that of D*Lite. The source code of the algorithm is available on the open-source basis.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2017, 27, 2; 273-290
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-3 z 3

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