一种面向多机器人对抗博弈的求解算法A solving algorithm against game oriented to multi-robot system
朱泽宇,陆建波,杨洲,钟智,滕玲
摘要(Abstract)：
多机器人对抗系统中,攻防双方在合作联盟形式下共同追求各自的最高预期收益,最终收敛于博弈均衡状态。提出一种面向多机器人系统可计算的对抗博弈均衡求解方法。首先,形式化描述多机器人对抗博弈系统的状态迁移过程,并给出机器人博弈策略的表示及推理方法;然后设计一个DOAN算法,并以Stackelberg安全博弈为例求取均衡解;最后,通过模拟实验表明,提出的方法在可接受的时间内收敛于均衡解。
关键词(KeyWords)： 多机器人系统;博弈;最高预期收益;状态迁移;均衡;DOAN
基金项目(Foundation): 国家科技支撑计划课题(2015BAH55F02);; 广西科学研究与技术开发计划项目(桂科攻14124005-2-7)~~
作者(Author): 朱泽宇,陆建波,杨洲,钟智,滕玲
DOI: 10.16652/j.issn.1004-373x.2018.23.036
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