ポテンシャルゲーム理論的姿勢協調 : 同期・平衝の達成 Potential Game Theoretic Attitude Coordination : Attitude Synchronization and Balanced Circular Formation

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In this paper we consider potential game theoretic attitude coordination. We especially focus on two ordered configurations: "synchronization" and "balanced circular formation". We first show that both problems constitute potential games by employing some global and individual objective functions, and a learning algorithm called Restrictive Spatial Adaptive Play (RSAP) leads robots to the ordered configurations with high probability even in the presence of mobility constraints. We moreover show that the problem also constitutes a group-based potential game and convergence of distribution of actions to stationary one can be accelerated. Finally, the effectiveness of the schemes is demonstrated by simulation.

収録刊行物

  • システム制御情報学会論文誌

    システム制御情報学会論文誌 24(7), 165-172, 2011-07-15

    一般社団法人 システム制御情報学会

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各種コード

  • NII論文ID(NAID)
    10030146217
  • NII書誌ID(NCID)
    AN1013280X
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13425668
  • NDL 記事登録ID
    11154499
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-195
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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