Game theoretic optimal position computation of collaborating agents for visual area coverage

Sotiris Papatheodorou, Tembine Hamidou, Michalis Smyrnakis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The computation problem of the optimal position of collaborating mobile robots equipped with omnidirectional cameras for visual area coverage is the subject of this paper. The planar area has several stationary obstacles resulting in a computationally intractable search scheme. Rather than using gradient-based search methods, the multi-agent swarm is clustered to partially deal with the dimensionality curse. Each cluster is end-to-end connected and its area of responsibility is assigned based on its collective Voronoi tessellation. This area is then coarsely sampled and a game-theoretic approach is employed relying on fictitious play amongst the cluster’s members. The search scheme is then switched into a fine-spatial sampling and initialized using the previously attained coarse optimal positions of the agents. The provided adaptive-size game-theoretic optimization search approach provides the optimal location of the agents with a tenfold faster convergence compared to the gradient-search methods. Simulation studies are offered to highlight the efficiency of the search scheme.

Original languageEnglish (US)
Title of host publicationProceedings - 10th Hellenic Conference on Artificial Intelligence, SETN 2018
PublisherAssociation for Computing Machinery
ISBN (Electronic)9781450364331
DOIs
StatePublished - Jul 9 2018
Event10th Hellenic Conference on Artificial Intelligence, SETN 2018 - Patras, Greece
Duration: Jul 9 2018Jul 12 2018

Publication series

NameACM International Conference Proceeding Series

Other

Other10th Hellenic Conference on Artificial Intelligence, SETN 2018
CountryGreece
CityPatras
Period7/9/187/12/18

Keywords

  • Area coverage
  • Collaborative control
  • Game theory
  • Multi–agent optimization

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition
  • Computer Networks and Communications

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  • Cite this

    Papatheodorou, S., Hamidou, T., Smyrnakis, M., & Tzes, A. (2018). Game theoretic optimal position computation of collaborating agents for visual area coverage In Proceedings - 10th Hellenic Conference on Artificial Intelligence, SETN 2018 (ACM International Conference Proceeding Series). Association for Computing Machinery. https://doi.org/10.1145/3200947.3201015