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

Department of Electrical and Computer Engineering - Communication, Control and Automation

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

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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.

Original language	English
Title of host publication	2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022
Number of pages	5
Publisher	IEEE
Publication date	Mar 2022
Pages	125-129
ISBN (Electronic)	9781665483834
DOIs	https://doi.org/10.1109/ICARA55094.2022.9738578
Publication status	Published - Mar 2022
Event	8th International Conference on Automation, Robotics and Applications, ICARA 2022 - Virtual, Online, Czech Republic Duration: 18 Feb 2022 → 20 Feb 2022

Conference

Conference	8th International Conference on Automation, Robotics and Applications, ICARA 2022
Country/Territory	Czech Republic
City	Virtual, Online
Period	18/02/2022 → 20/02/2022

Access to Document

10.1109/ICARA55094.2022.9738578

ICARA__Multi_UAV__Decentralized__Path__Coordination__through__Generalized_Potential__Games__PREPRINTAccepted manuscript, 2.74 MB

Cite this

@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. in 2022 8th International Conference on Automation, Robotics and Applications, ICARA 2022. IEEE, pp. 125-129, 8th International Conference on Automation, Robotics and Applications, ICARA 2022, Virtual, Online, Czech Republic, 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. p. 125-129.

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

TY - GEN

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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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