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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

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    10102 - Applied mathematics

Result continuities

  • Project

  • 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

  • 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