Abstract In this paper, we propose the use of game theory as
a general formalism for representing, comparing and providing insight into solutions to a wide class of robot control problem. Particularly, we show how game theory can be applied to the problems of multi robot coordination, distance planning without communication error .We consider a very general game structure for the control of robots, its independent task. Here we use the game theory for only analyzing the value of distance for various robots without any communication error.
I ndex TermsControl, cooperative game theory, coordination, fire hazards, multi robot system
I. INTRODUCTION he need for a device that can detect and extinguish a fire on its own is long past due. Many fire hazards originate when someone is sleeping or not home. With the invention of such a device, people and property can be saved at a much higher rate with relatively minimal damage caused by the fire. Here we have a team of mobile robots and these robots have to navigate autonomously performing cooperative tasks such as detecting fire, extinguishing fire after detecting the fire extinguisher. In this paper we are considering the situations where sensors are placed on mobile robots, fire extinguishers and in every room. We are applying cooperative game theory in order to optimize the performance of the team of robots.
In every day life, all of us face decision making problems and most of the time we have to make rational decision using limited information. Here comes the role of game theory. Game theory is a branch of mathematics that is concerned with the action of individual who are conscious that their action effect each other. Game theory can be again classified as non cooperative and cooperative game theory depending upon how they formalize interdependence among the players. In non-cooperative gametherory a game is a detailed model of all the moves available to the players while in cooperative one abstract awat from this level of details and describe the only outcome that results when the players come together in different combination. Non cooperative game theory is procedutral game theory where as cooperative gametheory is combinational gametheory.
The cooperative gametheory can be applied in this fire hazards problem in a very effective manner. A cooperative game theory consist of two elements. First elements are a set of players and the second element is a characteristic function specifying the values created by different subset of players in the game. Here the players are two robots. These robots have to perform several functions. The values can be assigned either by taking both magnitude and phase angle or by taking magnitude to the target. The works related to cooperative control of mobile sensor networks, both magnitude and phase angle is consider for assigning the values.
This paper is divided in to three section. The first section describe about the detailed study of scenario, we are going to apply the gametheory. The second section about a detailed case study of this problem by assigning values using cooperative game theory. Third section consist of an algorithm for performing this operation using the robots. II. STRUCTURING OF THE SCENARIO We know that proper coordination of robots is necessary for completing our task of fire extinguishing in a manner that each robot travels only the shortest path. Now we can denote the team of robots as a set :
X={x i } i = 1,2,3,N (1)
The actions performed by the robots are given by the set:
Y={y i } i = 1,2,3,M (2)
A set of possible actions of the i-th robot in the state x i is defined by :
Y i (x i )= { y 1 ,y 2, y 3,...... y k } (3)
y k Yi is a mapping:
y k : x i n x i n+1
Game Theoretic Control of Multi Robots for Fire Hazard Conditions Jasna .S. B (jasnapadman@gmail.com), Pranav .M. S (pranavms1@gmail.com), Sreelakshmy Suresh (sreelakshmisuresh40@gmail.com) T 2
where x k n is the current state of the i-th robot, and x k n+1 is a state that the robot will be in as a result of the action y k..
Here we are considering the following actions that a robot can perform
Idle Both the robots are not performing any operation Detect fire identification of hazard either by robot 1 or 2 or both Fetch fire extinguisher and extinguish the fire- operation after detection of fire Stop
Fig. 1.Layout of the workspace
III. CASE STUDY Consider a workspace having nine sectors including 4 rooms. Area of the workspace is (12*6) meter. Area of the room is (4*2) meter. We are considering two robots R1, R2. R1 is located in S4 and R2 is located in S6. Each room has two doors. These doors are assumed to be located at the centre. Assuming that the fire is detected in room 1 and room 4. Here we having 4 conditions.
Fire is detected in room one and extinguish : FDG1 Fire is detected in room nine and extinguish : FDG9 Ideal Game theory is applied in these three conditions for 2 robots using corporative game theory. It is as shown below.
For case study, we are taking two sectors 1 and 9 and two robots, robot 1 and 2. FDG1 and FDG9 here denotes the fire is detected and extinguished in sector 1 and 9 respectively The FDG1-FDG1 combination, taking (2,10) as example ,robot R1 has to travel 2 units only to the sector 1 whereas R2 has to travel 10 units. So R1 will moves to the sector 1. Thus the value of the set is 2.If the combinations of sectors and robots arise (FDG1-FDG9/FDG9-FDG1), both the values has to be taken into account as we have two robots and two sectors where fire is detected. If combination of IDLE and FDGi arise like (0,a) or (a,0), the value of set is taken as a. IV. ALGORITHM OF THE SCENARIO Here our robots are in idle condition if there is no fire. If the fire is detected in any sector S, the robot R i , which is close to the sector where fire is detected is activated. If the fire extinguisher is not in the same sector, R i moves to the sector S i. . If the extinguisher is detected, after fetching it, fire is extinguished. The robot R i has to check regularly that is there any sector still remaining without extinguishing the fire completely. If so it has to move to the respective sector and accomplish the task. When fire is extinguished completely in all sectors, the robots will stop their action and returns to the idle state. The algorithm is as shown in the Fig 2
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Fig. 2.Algorithm of the scenario V. CONCLUSION The problem of coordination of tasks and planning of a multi robot system is discussed here. In this paper, the intention of our robot team was to detect the fire and extinguish it in a workspace like a shopping mall, hospital etc. We employed cooperative game theory here and an algorithm is formulated using this. Our future researches shall be focused on making the robots capable of rescuing the people as well as extinguishing the fire simultaneously
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