Game-Theory based Multi-Robot Searching Approach

Abstract — Two strategic searching approaches for a multi-robot system are proposed in this paper: utility greedy approach and game theory approach. It is assumed that a-priori probability of the target distribution is provided in a partially known dynamic environment. The proposed two approaches aim to optimize the searching task using a dynamic-programming based utility function. The pure Nash Equilibrium solution and the mixed-strategy equilibrium solutions for game-theory based approach are provided. Extensive simulation results demonstrate that the proposed searching approaches have better searching performance and robustness compared to the other heuristic searching strategies. I