用博弈论设计机器人对抗式路径规划，提升危险环境下的协同效率。
Multi-Robot Coordination Induced in an Adversarial Graph-Traversal Game
- 构建对抗性图遍历博弈模型，蓝队优化路径，红队干扰图结构。
- 数值模拟验证方法有效性，证明混合策略与协同分组能降低代价。
- 适合军事安防、多机器人协同决策场景，尤其在高风险环境中。
本文提出一种博弈论框架下的图遍历问题，适用于机器人在存在敌对威胁的危险环境中移动，如军事与安全场景。蓝队机器人在随时间变化的图结构中行动，以最小成本到达目标；红队控制图的动态变化以最大化蓝队成本。该问题被建模为随机博弈，可数值计算纳什均衡策略。文中给出了博弈值的上下界，保证其解决原始问题。数值仿真展示了方法的有效性，特别体现了双方混合策略的优势，以及蓝队机器人通过分散或同步行为协同穿越高风险边的有益效果。
原文摘要 · Abstract (English)
This paper presents a game theoretic formulation of a graph traversal problem, with applications to robots moving through hazardous environments in the presence of an adversary, as in military and security scenarios. The blue team of robots moves in an environment modeled by a time-varying graph, attempting to reach some goal with minimum cost, while the red team controls how the graph changes to maximize the cost. The problem is formulated as a stochastic game, so that Nash equilibrium strategies can be computed numerically. Bounds are provided for the game value, with a guarantee that it solves the original problem. Numerical simulations demonstrate the results and the effectiveness of this method, particularly showing the benefit of mixing actions for both players, as well as beneficial coordinated behavior, where blue robots split up and/or synchronize to traverse risky edges.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。