论文标题
Stackelberg的异质机器人协作战略指南
Stackelberg Strategic Guidance for Heterogeneous Robots Collaboration
论文作者
论文摘要
在这项研究中，我们探讨了游戏理论的应用，尤其是Stackelberg游戏，以解决具有单向通信的异质机器人的有效协调策略生成问题。为此，我们着眼于多对象重排的任务，我们开发了一个理论和算法的框架，该框架通过计算反馈stackelberg Equilibrium的计算，为一对机器人武器，领导者和追随者提供了一对机器人武器，领导者和追随者的战略指导。凭借对模型不确定性的内在耐受性，我们的计划算法产生的战略指导不仅提高了解决重排任务的总体效率，而且对合作中的共同陷阱也是强大的，例如Chattering。
In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robots with one-way communication. To that end, focusing on the task of multi-object rearrangement, we develop a theoretical and algorithmic framework that provides strategic guidance for a pair of robot arms, a leader and a follower where the leader has a model of the follower's decision-making process, through the computation of a feedback Stackelberg equilibrium. With built-in tolerance of model uncertainty, the strategic guidance generated by our planning algorithm not only improves the overall efficiency in solving the rearrangement tasks, but is also robust to common pitfalls in collaboration, e.g., chattering.
