On some communication schemes for distributed pursuit-evasion games

Author

Speranzon, Alberto ; Johansson, Karl Henrik

Author_Institution

Dept. of Signals, R. Inst. of Technol., Stockholm, Sweden

Volume

1

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

1023

Abstract

A probabilistic pursuit-evasion game from the literature is used as an example to study constrained communication in multi-robot systems. Communication protocols based on time-triggered and event-triggered synchronization schemes are considered. It is shown that by limiting the communication to events when the probabilistic map updated by the individual pursuer contains new information, as measured through a map entropy, the utilization of the communication link can be considerably improved compared to conventional time-triggered communication.

Keywords

game theory; games of skill; information theory; multi-robot systems; probability; synchronisation; telecommunication links; communication link; communication protocols; communication schemes; constrained communication; event-triggered synchronisation schemes; multi-robot systems; probabilistic map entropy; probabilistic pursuit-evasion game; time-triggered communication; time-triggered synchronisation schemes; Broadcasting; Communication system control; Control systems; Entropy; Mobile communication; Mobile robots; Multirobot systems; Protocols; Sensor systems; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1272702

Filename

1272702