Multi-UAV Path Coordination through Generalized Potential Games

Liping Shi; Nestor Javier Hernandez Marcano; Rune Hylsberg Jacobsen

doi:10.1109/ICARA55094.2022.9738578

Multi-UAV Path Coordination through Generalized Potential Games

Liping Shi^*, Nestor Javier Hernandez Marcano^*, Rune Hylsberg Jacobsen^*

^*Corresponding author af dette arbejde

Institut for Elektro- og Computerteknologi - Communication, Control and Automation

Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review

2 Citationer (Scopus)

221 Downloads (Pure)

Abstract

In this paper, the problem to safely and efficiently navigate multiple Unmanned Aerial Vehicles (UAVs) in complex environments is addressed. Each UAV aims at achieving an approximate optimal trajectory plan while considering constraints from the environment and other neighboring UAVs. The problem is formulated as a generalized potential game. An algorithm, following an iterative best response approach, is proposed. Experimental results verify the coordination of a team of UAVs for a given team goal description. Also, the time cost of computation for the proposed algorithm is investigated. The results show a high-level goal to navigate a team of UAVs can be automatically decomposed to safe and efficient trajectory
plans for each UAV in the team by solving generalized potential games in a decentralized manner.

Originalsprog	Engelsk
Titel	2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022
Antal sider	5
Forlag	IEEE
Publikationsdato	mar. 2022
Sider	125-129
ISBN (Elektronisk)	9781665483834
DOI	https://doi.org/10.1109/ICARA55094.2022.9738578
Status	Udgivet - mar. 2022
Begivenhed	8th International Conference on Automation, Robotics and Applications, ICARA 2022 - Virtual, Online, Tjekkiet Varighed: 18 feb. 2022 → 20 feb. 2022

Konference

Konference	8th International Conference on Automation, Robotics and Applications, ICARA 2022
Land/Område	Tjekkiet
By	Virtual, Online
Periode	18/02/2022 → 20/02/2022

Adgang til dokumentet

10.1109/ICARA55094.2022.9738578

ICARA__Multi_UAV__Decentralized__Path__Coordination__through__Generalized_Potential__Games__PREPRINTAccepteret manuskript, 2,74 MB

Citationsformater

@inproceedings{5c3b0c02b41f4a13a38856b15a2237c4,

title = "Multi-UAV Path Coordination through Generalized Potential Games",

abstract = "In this paper, the problem to safely and efficiently navigate multiple Unmanned Aerial Vehicles (UAVs) in complex environments is addressed. Each UAV aims at achieving an approximate optimal trajectory plan while considering constraints from the environment and other neighboring UAVs. The problem is formulated as a generalized potential game. An algorithm, following an iterative best response approach, is proposed. Experimental results verify the coordination of a team of UAVs for a given team goal description. Also, the time cost of computation for the proposed algorithm is investigated. The results show a high-level goal to navigate a team of UAVs can be automatically decomposed to safe and efficient trajectoryplans for each UAV in the team by solving generalized potential games in a decentralized manner.",

author = "Liping Shi and {Hernandez Marcano}, {Nestor Javier} and Jacobsen, {Rune Hylsberg}",

year = "2022",

month = mar,

doi = "10.1109/ICARA55094.2022.9738578",

language = "English",

pages = "125--129",

booktitle = "2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022",

publisher = "IEEE",

note = "8th International Conference on Automation, Robotics and Applications, ICARA 2022 ; Conference date: 18-02-2022 Through 20-02-2022",

}

Shi, L, Hernandez Marcano, NJ & Jacobsen, RH 2022, Multi-UAV Path Coordination through Generalized Potential Games. i 2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022. IEEE, s. 125-129, 8th International Conference on Automation, Robotics and Applications, ICARA 2022, Virtual, Online, Tjekkiet, 18/02/2022. https://doi.org/10.1109/ICARA55094.2022.9738578

Multi-UAV Path Coordination through Generalized Potential Games. / Shi, Liping; Hernandez Marcano, Nestor Javier; Jacobsen, Rune Hylsberg.
2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022. IEEE, 2022. s. 125-129.

Publikation: Bidrag til bog/antologi/rapport/proceeding › Konferencebidrag i proceedings › Forskning › peer review

TY - GEN

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AU - Hernandez Marcano, Nestor Javier

AU - Jacobsen, Rune Hylsberg

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N2 - In this paper, the problem to safely and efficiently navigate multiple Unmanned Aerial Vehicles (UAVs) in complex environments is addressed. Each UAV aims at achieving an approximate optimal trajectory plan while considering constraints from the environment and other neighboring UAVs. The problem is formulated as a generalized potential game. An algorithm, following an iterative best response approach, is proposed. Experimental results verify the coordination of a team of UAVs for a given team goal description. Also, the time cost of computation for the proposed algorithm is investigated. The results show a high-level goal to navigate a team of UAVs can be automatically decomposed to safe and efficient trajectoryplans for each UAV in the team by solving generalized potential games in a decentralized manner.

AB - In this paper, the problem to safely and efficiently navigate multiple Unmanned Aerial Vehicles (UAVs) in complex environments is addressed. Each UAV aims at achieving an approximate optimal trajectory plan while considering constraints from the environment and other neighboring UAVs. The problem is formulated as a generalized potential game. An algorithm, following an iterative best response approach, is proposed. Experimental results verify the coordination of a team of UAVs for a given team goal description. Also, the time cost of computation for the proposed algorithm is investigated. The results show a high-level goal to navigate a team of UAVs can be automatically decomposed to safe and efficient trajectoryplans for each UAV in the team by solving generalized potential games in a decentralized manner.

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DO - 10.1109/ICARA55094.2022.9738578

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Y2 - 18 February 2022 through 20 February 2022

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