Research Map of Robotics. Study on Asymptotic Strategy-Making in Multiple Autonomous Robot System.
Jun Ota, Yoichi Yokogawa, Tamio Arai · Journal of the Robotics Society of Japan · 1996
A method of distributed strategymaking in multiple autonomous system is presented in this paper. Every robot in the system has several tactics to be selected, and set of probabilities to select tactics are called “strategy”. The algorithm to make strategy in this paper is iteration of four parts as follows: (1) select and try a certain tactic by means of the strategy, (2) get payoff value for applied tactic from environment, (3) revise the estimated payoff value of tactics, (4) revise the strategy by using (3) . Effectiveness of the proposed method is verified by path selecting simulation of multiple mobile robots. Convergence to optimal solution in the proposed method is discussed by using pay-off matrices in game theory.