Multi-robot Cooperative Pursuit Based On Quantum Games

As a typical cooperation task, multi-robot pursuit problem is the theme thathow to guide a group of robots to effectively pursue another group of evadingrobots by cooperation. Multi-robot pursuit problem is an ideal topic for the researchof multi-agent robotics cooperation and coordination, which covering manydisciplines and domain knowledge, such as real-time vision process, wirelesscommunication, real-time path planning, multi-robot distributed coordination andcontrol, planning and learning, competition between robots groups and cooperationwithin robots group, and so on.With the support of the national science foundation of china "research oncomplex system causal relationship discovery and robustness infer under thedynamic environment " and the natural science foundation of Anhui province"research on collaboration and competition technology of emotional robot based onquantum game theory ", this thesis focuses on how the robots in quantum gamessystem cooperate with each other to accomplish task. Through analyzing andresearch of the current development of multi-robot system, the thesis introduces themulti-robot systems characteristics, main research fields. At the same time, quantumgame theory are introduced and studied. This laid the foundation for the realizationof multi-robot pursuit cooperation model which based on quantum game theory.Firstly, the problem of multi pursuit-evasion game strategy optimal andoptional was studied and analyzed in this thesis. In the multi pursuit-evasion gamesincludes two self-interest pursuers and single evader, and the speed of pursuer isequal to the speed of evader. By extended classic game model to the quantum gamemodel, the self-interest of individual no longer leads to the disintegration andobtain the optimal cooperative relations. This would solve the problem thatself-interested individual tend to benefit from cooperation at the lowest cost andleading to the cooperation’s disintegration and cannot get stable optimalcooperative relations. On the other hand, the problem of individual strategy’scooperation was solved in the quantum game model. Under quantum game model,the plight of the classic hunt for decision-making was finally solved throughtheoretical analysis and simulation experiments, the evolution and results of thequantum game also discussed.On the basis of the research on two pursuers system, we make a further exploration on the case of multi-pursuers, and especially study the quantum gamecontains three pursuers. The quantum game model for three pursuers is established,the strategy and the nash equilibrium point was analyzed and calculated. It showsthe advantages and effectiveness of the quantum game model in dealing with suchissue. This also broadened the applications of the quantum game, provides a newway of thinking and research methods for multi-robot problem.