TY - GEN
T1 - Competitive drone racing using asymmetric games
AU - Almozel, Amin
AU - Shamma, Jeff S.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/12
Y1 - 2021/7/12
N2 - This paper presents a game theoretic approach to solve the problem of drone racing. A game theory planner (GTP) strategizes against an opponent by using an iterated best response learning method from game theory. To complement the functionality of the GTP, a minimum jerk polynomial trajectory generation algorithm is used to generate a reference track. Moreover, a time-varying linear model predictive controller (MPC) is used to execute the strategic path generated by the GTP. The performance of the GTP is compared against a pure MPC, a Policy Improvement (PI) racer, and itself under different parameters. Intuitive competitive behaviors such as blocking and overtaking came naturally as a result of the algorithm. Also, interesting match-up and lead-dependent performance advantage is observed.
AB - This paper presents a game theoretic approach to solve the problem of drone racing. A game theory planner (GTP) strategizes against an opponent by using an iterated best response learning method from game theory. To complement the functionality of the GTP, a minimum jerk polynomial trajectory generation algorithm is used to generate a reference track. Moreover, a time-varying linear model predictive controller (MPC) is used to execute the strategic path generated by the GTP. The performance of the GTP is compared against a pure MPC, a Policy Improvement (PI) racer, and itself under different parameters. Intuitive competitive behaviors such as blocking and overtaking came naturally as a result of the algorithm. Also, interesting match-up and lead-dependent performance advantage is observed.
UR - http://www.scopus.com/inward/record.url?scp=85112468791&partnerID=8YFLogxK
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U2 - 10.1109/UR52253.2021.9494629
DO - 10.1109/UR52253.2021.9494629
M3 - Conference contribution
AN - SCOPUS:85112468791
T3 - 2021 18th International Conference on Ubiquitous Robots, UR 2021
SP - 349
EP - 356
BT - 2021 18th International Conference on Ubiquitous Robots, UR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Ubiquitous Robots, UR 2021
Y2 - 12 July 2021 through 14 July 2021
ER -