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    A Game-theoretic Implementation of the Aerial Coverage Problem

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    AnwaarAlghamdi_MS_Thesis.pdf
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    9.250Mb
    Format:
    PDF
    Description:
    Final Thesis
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    Type
    Thesis
    Authors
    Alghamdi, Anwaar cc
    Advisors
    Shamma, Jeff S. cc
    Committee members
    Laleg-Kirati, Taous-Meriem cc
    Elhoseiny, Mohamed H.
    Program
    Electrical Engineering
    KAUST Department
    Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
    Date
    2020-09
    Permanent link to this record
    http://hdl.handle.net/10754/664912
    
    Metadata
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    Abstract
    Game theory can work as a coordination mechanism in multi-agent robotic systems by representing each robot as a player in a game. In ideal scenarios, game theory algorithms guarantee convergence to optimal configurations and have been widely studied for many applications. However, most of the studies focus on theoretical analysis and lack the details of complete demonstrations. In this regard, we implemented a real-time multi-robot system in order to investigate how game-theoretic methods perform in non-idealized settings. An aerial coverage problem was modeled as a potential game, where each aerial vehicle is an independent decision-making player. These players take actions under limited communication, and each is equipped with onboard vision capabilities. Three game-theoretic methods have been modified and implemented to solve this problem. All computations are performed using onboard devices, independent of any ground entity. The performance of the system is analyzed and compared with different tests and configurations
    Citation
    Alghamdi, A. (2020). A Game-theoretic Implementation of the Aerial Coverage Problem. KAUST Research Repository. https://doi.org/10.25781/KAUST-Y1E2S
    DOI
    10.25781/KAUST-Y1E2S
    ae974a485f413a2113503eed53cd6c53
    10.25781/KAUST-Y1E2S
    Scopus Count
    Collections
    Theses; Electrical Engineering Program; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

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