Title

Distributed Game Strategy Design With Application To Multi-Agent Formation Control

Abstract

In this paper, we consider a multi-agent formation control problem from a game theory point of view. It is well known that a major difficulty in a communication network based formation control problem is that each agent is only able to exchange information with other agents according to the communication topology. This information constraint prevents many game strategy design approaches that require individual agents to have global information from being implemented in many cases. We formulate the formation control problem in such a way that individual agents try to minimize their locally measured formation errors and to solve it as a differential game problem. We consider two cases of non-cooperative and cooperative games and propose a novel distributed design approach that utilizes the relationship between the initial and terminal state variables. This approach is applied to an illustrative formation control example among three agents and the formation errors under various scenarios are compared and analyzed.

Publication Date

1-1-2014

Publication Title

Proceedings of the IEEE Conference on Decision and Control

Volume

2015-February

Issue

February

Number of Pages

433-438

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/CDC.2014.7039419

Socpus ID

84988298072 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84988298072

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