Dynamic Game-Based Analysis for a Hybrid Multi-Agent Robotic System

In this paper, a novel design and analysis of the dynamic game of the Hybrid Multi-Agent Robotic System (HMARS) is proposed for dealing with the formation problem of multiple robots with leaders and followers. Each autonomous agent is a wheeled mobile robot (WMR) with switching behaviors including target approach and obstacle avoidance. Under the well designed controller, an agent can perform formation tasks together with other agents in order to accomplish a cooperative mission. The top-down design method deals with not only logical conflicts but also optimal solution of the game at Nash equilibrium point. On the other hand, the bottom-up design method searches for the best performance on the local controller over continuous trajectory. In addition, reachibility is verified at the logical level. The contributions of this paper can be split into three parts: first, Lyapunov style formation control of a HMARS is developed based on reachibility, existence and stability issues under the hybrid approach; second, a dynamical cooperative game for HMARS is proposed and analyzed for the stability with Constrained Logic; third, we offer a framework to implement cooperation of HMARS with the innate characteristics from discrete event space to continuous state space.