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Proceedings Paper

Game theory applied to legged robotics: a variant of the dolichobrachistochrone problem
Author(s): Paul Muench; David Bednarz
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Paper Abstract

We model the scenario between a robotic system and its operating environment as a strategic game between two players. The problem will be formulated as a game of timing. We will treat disturbances in a worst case scenario, i.e., as if they were placed by an opponent acting optimally. Game theory is a formal way to analyze the interactions among a group of rational players who behave strategically. We believe that behavior in the presence of disturbances using games of timing will reduce to optimal control when the disturbance is suppressed. In this paper we create a model of phase space similar to the dolichobrachistochrone problem. We discretize phase space to a simple grid where Player P is trying to reach a goal as fast as possible, i.e., with minimum cost. Player E is trying to maximize this cost. To do this, E has a limited number of "chips" to distribute on the grid. How should E distribute his resources and how should P navigate the grid? Rather than treating disturbances as a random occurrence, we seek to treat them as an optimal strategy

Paper Details

Date Published: 25 May 2012
PDF: 6 pages
Proc. SPIE 8387, Unmanned Systems Technology XIV, 838714 (25 May 2012); doi: 10.1117/12.921842
Show Author Affiliations
Paul Muench, U.S. Army Tank Automotive Research, Development and Engineering Ctr. (United States)
David Bednarz, U.S. Army Tank Automotive Research, Development and Engineering Ctr. (United States)

Published in SPIE Proceedings Vol. 8387:
Unmanned Systems Technology XIV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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