EXISTENCE OF NASH EQUILIBRIUM IN DIFFERENTIAL GAME APPROACH TO FORMATION CONTROL
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F18%3A10241662" target="_blank" >RIV/61989100:27240/18:10241662 - isvavai.cz</a>
Result on the web
<a href="http://homel.vsb.cz/~luk76/publications/IJRA18.pdf" target="_blank" >http://homel.vsb.cz/~luk76/publications/IJRA18.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.2316/Journal.206.2018.4.206-5308" target="_blank" >10.2316/Journal.206.2018.4.206-5308</a>
Alternative languages
Result language
angličtina
Original language name
EXISTENCE OF NASH EQUILIBRIUM IN DIFFERENTIAL GAME APPROACH TO FORMATION CONTROL
Original language description
This paper considers the differential game approach to the leaderless formation control problem of a linear dynamical multi-robot system with directed graph topology. The formation requirement is formulated in terms of a finite-horizon quadratic cost function for each robot through the use of graph Laplacian and optimal control theory. The motion equations of robots and formation cost functions are the state equations and cost functions of the differential game. In the differential game approach, each robot can select its neighbours and implement distributed controllers; however, there is no guarantee that the formation control exists. The main contribution of this paper is a differential game formulation to formation control admitting a unique Nash equilibrium that ensures the existence of the formation control.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10102 - Applied mathematics
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
International Journal of Robotics and Automation
ISSN
0826-8185
e-ISSN
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Volume of the periodical
33
Issue of the periodical within the volume
4
Country of publishing house
CA - CANADA
Number of pages
7
Pages from-to
428-434
UT code for WoS article
000440575600012
EID of the result in the Scopus database
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