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Competitive Two Team Target Search Game with Communication Symmetry and Asymmetry

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Algorithmic Foundations of Robotics XII

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 13))

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Abstract

We study a search game in which two multiagent teams compete to find a stationary target at an unknown location. Each team plays a mixed strategy over the set of search sweep-patterns allowed from its respective random starting locations. Assuming that communication enables cooperation we find closed-form expressions for the probability of winning the game as a function of team sizes, and vs. the existence or absence of communication within each team. Assuming the target is distributed uniformly at random, an optimal mixed strategy equalizes the expected first-visit time to all points within the search space. The benefits of communication enabled cooperation increase with team size. Simulations and experiments agree well with analytical results.

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Author information

Authors and Affiliations

  1. U.S. Naval Research Lab, Washington, D.C., 20375, USA

    Michael Otte & Donald Sofge

  2. University of Maryland, College Park, MD, 20742, USA

    Michael Kuhlman

  3. National Research Council RAP Postdoctoral Associate at NRL., Washington, D.C., 20375, USA

    Michael Otte

Authors
  1. Michael Otte
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  2. Michael Kuhlman
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  3. Donald Sofge
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Corresponding author

Correspondence to Michael Otte .

Editor information

Editors and Affiliations

  1. Industrial Engineering and Operations Research, University of California, Berkeley, CA, USA

    Ken Goldberg

  2. Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA

    Pieter Abbeel

  3. Rutgers University, Piscataway, NJ, USA

    Kostas Bekris

  4. University of California, Berkeley, CA, USA

    Lauren Miller

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Otte, M., Kuhlman, M., Sofge, D. (2020). Competitive Two Team Target Search Game with Communication Symmetry and Asymmetry. In: Goldberg, K., Abbeel, P., Bekris, K., Miller, L. (eds) Algorithmic Foundations of Robotics XII. Springer Proceedings in Advanced Robotics, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-030-43089-4_14

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