Multi-robot With Self-interest Pursuit Evasion Based On Quantum Minority Game

Multi-robot pursuit problem is a typical task and an important platform for research on multi-robot system.It studies how to set the rules to make resources allocated/coordinated and competited by multiple robots in a reasonable way,hunt one or more escapers and get the best results possible.As the situation is changing constantly,each pursuers should make realtime strategy according to the actual situation.Multi-robot pursuit is a problem which covers lots of disciplines such as visual processing/path planning and machine learning.This paper studies the pursuit problem among more than one robots with self-interest.As one of the basic characteristics of agent,how to coordinate the competition between multiple pursuers will directly affect the effectiveness of the overall hunting system when the self-interest was introduced to the system,that is the conflict between the individual interests and overall interests. Learning to the development of multi-robot system and the research of the multi-robot pursuit and game theory laid a solid foundation to solve the problem of multi-robot pursuit using game theory and quantum game.Game theory is a powerful weapon to solve the problem of a multi-party competition.This paper firstly provide the payoff rules for multi-robot pursuit system,and introduce the game theory,so that the robot competing blindly start to adjust their own strategies consciously,then personal interests will be closer to the overall interests,and ultimately the result of pursuit obtained a certain degree of improvement.In some specific cases,the introduction of game theory still does not improvement the payoff,if the system is quantized,the strategies for each robot will be extended to the quantum space.The experiments show that each pursuer unconsciously take into account the overall interests when maximizing their own interests,the dilemma of each pursuer in the classical game is resolved.When the initial position of pursuers are overlap,the payoff rule become invalid,we introduce a new payoff rule to this case,and use quantum minority game to solve the competition problem.Similarly,individual interests and overall interests reached unity.Therefore,quantum game is a complement to the classical game.This study also expand the field of application of quantum game.