A Stackelberg Signaling Game for Human-UAV Collaboration in a Search-and-Rescue Context

Search-and-rescue (SAR) operations are challenging in the absence of a medium of communication between the rescuers and the rescuee. In this work, we model a particular rescue scenario as a modified asymmetric rendezvous game, where limited communication capabilities are present between the two players. This scenario can be modelled as a co-operative Stackelberg game, where the rescuer acts as a leader in signaling his intent to the rescuee. We present an efficient approach to obtain the optimal signaling policy, as well as its robust counterpart, when the topology of the rescue environment is unknown.