Multirobot Charging Strategies: A Game-Theoretic Approach

摘要: This letter considers the problem of assigning multiple robots to charging stations in order minimize total time required by all for operation. We first show that centralized is NP-hard. Then, we formulate as a non-cooperative game. propose an algorithm obtain pure strategy Nash equilibrium game, and its uniqueness. investigate price anarchy this function number stations. Next, leverage our analysis on static strategies reducing cost when are mobile. Finally, analyze performance proposed through extensive simulation.