Bardhan, Rajarshi (Nanyang Technological University), BERA, TITAS (Nanyang Technological University), Sundaram, Suresh (Nanyang Technological University)

A Decentralized Game Theoretic Approach for Team Formation and Task Assignment by Autonomous Unmanned Aerial Vehicles

Scheduled for presentation during the "Autonomy - III" (WeC1), Wednesday, June 14, 2017, 16:40−17:00, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

A number of autonomous unmanned aerial vehicles (UAV) are tasked to search an unknown/uncertain environment, and neutralize targets whenever they come across such threats. Due to resource constraints of the UAVs, neutralizing some threats require simultaneous effort of a certain number of UAVs in minimum. When a UAV detects multiple such targets, it needs to communicate with its neighbor UAVs asking for their cooperation to form a team. Since the involved entities are dynamic in nature, a UAV may have to terminate information exchange with its neighbors within a few iterative steps so that the decision making process can be finished before any topological change takes place. Moreover, due to sensor range and communication bandwith limitations, a UAV cannot know about other tasks available to its neighbors in an instantaneous manner. We formulate the problem that a UAV faces when it detects multiple such targets and needs to decide as to which target it should try to neutralize, given the uncertainty over the neighbor UAVs' actions, in a game theoretic framework. We propose a correlated equilibrium concept based decentralized game theoretic solution that requires local information of the UAVs.