Title:
A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem
A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem
| dc.contributor.author | Pickem, Daniel | |
| dc.contributor.author | Egerstedt, Magnus B. | |
| dc.contributor.author | Shamma, Jeff | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2016-09-14T17:32:28Z | |
| dc.date.available | 2016-09-14T17:32:28Z | |
| dc.date.issued | 2015-12 | |
| dc.description | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | DOI: 10.1109/CDC.2015.7402645 | en_US |
| dc.description.abstract | In this paper we formulate the homogeneous two- and three-dimensional self-reconfiguration problem over discrete grids as a constrained potential game. We develop a game-theoretic learning algorithm based on the Metropolis-Hastings algorithm that solves the self-reconfiguration problem in a globally optimal fashion. Both a centralized and a fully decentralized algorithm are presented and we show that the only stochastically stable state is the potential function maximizer, i.e. the desired target configuration. These algorithms compute transition probabilities in such a way that even though each agent acts in a self-interested way, the overall collective goal of self-reconfiguration is achieved. Simulation results confirm the feasibility of our approach and show convergence to desired target configurations. | en_US |
| dc.identifier.citation | Pickem, D., Egerstedt, M. B., & Shamma, J. S. (2015). A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem. 2015 54th IEEE Conference on Decision and Control (CDC), Osaka, 2015, pp. 2829-2834. | en_US |
| dc.identifier.doi | 10.1109/CDC.2015.7402645 | en_US |
| dc.identifier.isbn | 978-1-4799-7886-1 | |
| dc.identifier.uri | http://hdl.handle.net/1853/55819 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Decentralized | en_US |
| dc.subject | Distributed graph coverage | en_US |
| dc.subject | Game theoretic | en_US |
| dc.subject | Graph | en_US |
| dc.subject | Mobile agents | en_US |
| dc.subject | Mobile robots | en_US |
| dc.subject | Stationary distribution | en_US |
| dc.title | A Game-theoretic Formulation of the Homogeneous Self-Reconfiguration Problem | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Egerstedt, Magnus B. | |
| local.contributor.corporatename | School of Electrical and Computer Engineering | |
| local.contributor.corporatename | College of Engineering | |
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