Abstract— In this paper, we propose the use of game theory as
a general formalism for representing, comparing and providing
insight into solutions to a wide class of robot control problem.
Particularly, we show how game theory can be applied to the
problems of multi robot coordination, distance planning without
communication error .We consider a very general game structure
for the control of robots, its independent task. Here we use the
game theory for only analyzing the value of distance for various
robots without any communication error.

I ndex Terms—Control, cooperative game theory, coordination,
fire hazards, multi robot system

he need for a device that can detect and extinguish a fire
on its own is long past due. Many fire hazards originate
when someone is sleeping or not home. With the invention of
such a device, people and property can be saved at a much
higher rate with relatively minimal damage caused by the fire.
Here we have a team of mobile robots and these robots have to
navigate autonomously performing cooperative tasks such as
detecting fire, extinguishing fire after detecting the fire
extinguisher. In this paper we are considering the situations
where sensors are placed on mobile robots, fire extinguishers
and in every room. We are applying cooperative game theory
in order to optimize the performance of the team of robots.

In every day life, all of us face decision making problems and
most of the time we have to make rational decision using
limited information. Here comes the role of game theory.
Game theory is a branch of mathematics that is concerned
with the action of individual who are conscious that their
action effect each other. Game theory can be again classified
as non –cooperative and cooperative game theory depending
upon how they formalize interdependence among the players.
In non-cooperative gametherory a game is a detailed model of
all the moves available to the players while in cooperative one
abstract awat from this level of details and describe the only
outcome that results when the players come together in
different combination. Non cooperative game theory is
procedutral game theory where as cooperative gametheory is
combinational gametheory.

The cooperative gametheory can be applied in this fire hazards
problem in a very effective manner. A cooperative game
theory consist of two elements. First elements are a set of
players and the second element is a characteristic function
specifying the values created by different subset of players in
the game. Here the players are two robots. These robots have
to perform several functions. The values can be assigned
either by taking both magnitude and phase angle or by taking
magnitude to the target. The works related to cooperative
control of mobile sensor networks, both magnitude and phase
angle is consider for assigning the values.

This paper is divided in to three section. The first section
describe about the detailed study of scenario, we are going to
apply the gametheory. The second section about a detailed
case study of this problem by assigning values using
cooperative game theory. Third section consist of an
algorithm for performing this operation using the robots.
We know that proper coordination of robots is necessary for
completing our task of fire extinguishing in a manner that each
robot travels only the shortest path.
Now we can denote the team of robots as a set :

} i = 1,2,3,…N (1)

The actions performed by the robots are given by the set:

} i = 1,2,3,…M (2)

A set of possible actions of the i-th robot in the state x
defined by :

i )=
{ y
} (3)

k ⊂ Yi is a mapping:

: x
→ x

Game Theoretic Control of Multi Robots for
Fire Hazard Conditions
Jasna .S. B (jasnapadman@gmail.com), Pranav .M. S (pranavms1@gmail.com), Sreelakshmy Suresh

where x
is the current state of the i-th robot, and x
is a
state that the robot will be in as a result of the action y

Here we are considering the following actions that a robot
can perform

 Idle – Both the robots are not performing any
 Detect fire – identification of hazard either by robot
1 or 2 or both
 Fetch fire extinguisher and extinguish the fire-
operation after detection of fire
 Stop

Fig. 1.Layout of the workspace

Consider a workspace having nine sectors including 4
rooms. Area of the workspace is (12*6) meter. Area of the
room is (4*2) meter. We are considering two robots R1, R2.
R1 is located in S4 and R2 is located in S6. Each room has
two doors. These doors are assumed to be located at the
centre. Assuming that the fire is detected in room 1 and
room 4. Here we having 4 conditions.

 Fire is detected in room one and extinguish : FDG1
 Fire is detected in room nine and extinguish : FDG9
 Ideal
Game theory is applied in these three conditions for 2 robots
using corporative game theory. It is as shown below.


Robot 2

FDG1 (2,10) (2,2) (2,0)
FDG9 (9,10) (10,2) (9,0)
IDLE (0,10) (0,2) (0,0)
Robot 1

For case study, we are taking two sectors 1 and 9 and two
robots, robot 1 and 2. FDG1 and FDG9 here denotes the fire is
detected and extinguished in sector 1 and 9 respectively The
FDG1-FDG1 combination, taking (2,10) as example ,robot
R1 has to travel 2 units only to the sector 1 whereas R2 has to
travel 10 units. So R1 will moves to the sector 1. Thus the
value of the set is 2.If the combinations of sectors and robots
arise (FDG1-FDG9/FDG9-FDG1), both the values has to be
taken into account as we have two robots and two sectors
where fire is detected.
If combination of IDLE and FDGi arise like (0,a) or (a,0),
the value of set is taken as a.
Here our robots are in idle condition if there is no fire. If the
fire is detected in any sector S, the robot R
, which is close to
the sector where fire is detected is activated. If the fire
extinguisher is not in the same sector, R
moves to the sector
. If the extinguisher is detected, after fetching it, fire is
extinguished. The robot R
has to check regularly that is there
any sector still remaining without extinguishing the fire
completely. If so it has to move to the respective sector and
accomplish the task. When fire is extinguished completely in
all sectors, the robots will stop their action and returns to the
idle state.
The algorithm is as shown in the Fig 2


Fig. 2.Algorithm of the scenario
The problem of coordination of tasks and planning of a multi
robot system is discussed here. In this paper, the intention of
our robot team was to detect the fire and extinguish it in a
workspace like a shopping mall, hospital etc. We employed
cooperative game theory here and an algorithm is formulated
using this. Our future researches shall be focused on making
the robots capable of rescuing the people as well as
extinguishing the fire simultaneously


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