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Game Theory based Path planning for Multi-agent system

Game Theory based Path planning for Multi-agent system

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Published by Debal Saha
It is the report of my final year project on path planning technique development of a multi-agent system. The report briefly describes the game theory approach for tackling the problem and the experimental set-up of soccer robotics intended to perform experimentation for obtaining validation results regarding comparison of our approach with the previously developed techniques of path-planning based on neural networks, fuzzy logic and potential field methods.
It is the report of my final year project on path planning technique development of a multi-agent system. The report briefly describes the game theory approach for tackling the problem and the experimental set-up of soccer robotics intended to perform experimentation for obtaining validation results regarding comparison of our approach with the previously developed techniques of path-planning based on neural networks, fuzzy logic and potential field methods.

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Published by: Debal Saha on Oct 12, 2013
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10/12/2013

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1
Cooperation and Competition in Multi
-
Agent Systems (MAS)
 
National Institute of Technology, Durgapur
Mechanical Engineering Department
 
Submitted by:
Debal Saha (08/ME/76)Aman Agarwal (08/ME/83) Nishant Kumar Singh (08/ME/93)Manjunath Shrivastav Gandham (08/ME/78)Madhyama Thakur (08/ME/60)
 
2
Contents
 Acknowledgement 
…………………………………………..…………………….………………………
3
 Abstract …………………
 .............
……………………………………………
 .
………………………
 .
….
 . 4
I.
 
Introduction .………………………………………………………..
.
...
……
..
… ……………. 5
 
II.
 
Literature Revie
w ……………………………………………………
..
……
..
……………….. 6
 
III.
 
Game Theory for MAS
……………………………………………………..
..
…….…………
7
IV.
 
Collision avoidance scheme for MAS
……………………………………
..
.............. 8
V.
 
Strategies for soccer robot 
…………………………………………………
...
…………… 10
VI.
 
Experimental Set up ...
………………………………………………
....
………..............
..... 12
VII.
Technical
Difficulties faced ………………………
..
………………………
...
…………
18
VIII.
 
Probable reasons non-functionality of microbots ................................ 20
IX.
 
Remedies ……………………………………………………………………………
..
……………
22
X.
 
References …………………………………………………………
.....
…………
.
……………
... 24
 
3
Acknowledgement
It is a well-established fact, that any endeavour undertaken is the amalgamation of thedirect or indirect efforts of countless individuals coming together for a common goal. Aswe present our report on our final year project, we take this opportunity to express oursincere gratitude to all those who rendered valuable support to our project.First and foremost, we are thankful to our Project Guide Dr. Nirmal Baran Hui forallowing us to carry out our final project under his able guidance. The discussionregarding the various important aspects of the project, the clarification of somecomplicated topics, and the provisions of experimental set up by him to our project group were very crucial for the accomplishment of the project. He not only guided us tothe best possible means of accomplishing a said goal, but also allowed us to explore ourrealms and make mistakes, and to learn from those mistakes. We are greatly indebted tohim for the trust he showed on us and the latitude he allowed us.Further, we must acknowledge our entire Department of Mechanical Engineering forproviding us with state of the art equipment and experimental setup.

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