01762nas a2200169 4500008004500000245012900045210006900174260001200243520119400255653002101449653001301470100001401483700001401497700001301511700001901524856004901543 2016 engldsh 00aA game theoretic approach for antagonistic-task coordination of underwater autonomous robots in asymmetric threats scenarios0 agame theoretic approach for antagonistictask coordination of und c12/20163 a

This work proposes a game theoretic approach
to tackle the problem of multi-robot coordination
in critical scenarios where communication is
limited and the robots must accomplish different tasks
simultaneously. An important application falls in underwater
robotic framework where robots are used to
protect a ship against asymmetric threats guaranteeing
simultaneously the coverage of the area around the ship
and the tracking of a possible intruder. The problem is
modelled as a potential game for which novel learning
protocols are introduced. Indeed, a general extension
of pay-off based algorithms is herein proposed where
the main difference with state-of-the-art protocols is
that the trajectory optimization is considered instead
of single action optimization. Moreover, the proposed
T-algorithms, steer the robots toward Nash equilibria
that will be shown to correspond to the accomplishment
of different, possibly antagonistic, goals. Finally, performances
of the algorithms, under different scenarios,
have been evaluated in simulations.

10aEmbedded Control10aRobotics1 aNardi, S.1 aFabbri, T1 aCaiti, A1 aPallottino, L. uhttp://ieeexplore.ieee.org/document/7761346/01440nas a2200205 4500008004100000022002200041245006800063210006700131260005400198300001400252520076100266653002101027653001301048100001401061700001501075700001501090700001301105700001501118856010101133 2013 eng d a978-1-4799-0995-700aPacket-Based Dynamic Control of a Furuta Pendulum over Ethernet0 aPacketBased Dynamic Control of a Furuta Pendulum over Ethernet aPlatanias-Chania, Crete, Greecec25-28 June 2013  a464 - 4703 a

This paper presents experimental results of the application of Packet-Based Control approach with dynamic controller on a real plant: the Furuta Pendulum. Despite its easiness of realization, Furuta Pendulum presents some features useful for our purposes, such as pretty non-linear dynamics, unstable equilibrium point and heavy dynamical inaccuracies. The network communication channel has been implemented using an Ethernet network. Packet-Based controller has been tested and compared with a classic local controller for different time-varying actuation delays. Results obtained corroborate the validity of the proposed architecture and highlight the robustness of this approach in the presence of actuation delays.

10aEmbedded Control10aRobotics1 aFabbri, T1 aFenucci, D1 aFalasca, S1 aGamba, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6608763&queryText%3Dfalasca+gamba