A Stackelberg signaling game for co-operative rendezvous in uncertain environments in a search-and-rescue context
Hebbar, Vijeth
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https://hdl.handle.net/2142/109455
Description
Title
A Stackelberg signaling game for co-operative rendezvous in uncertain environments in a search-and-rescue context
Author(s)
Hebbar, Vijeth
Issue Date
2020-12-10
Director of Research (if dissertation) or Advisor (if thesis)
Langbort, Cedric
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Rescue Robotics
Abstract
Search and rescue (SAR) operations are challenging in the absence of a medium of communication between the rescuers and the rescuee. Natural signaling, grounded in rationality, can play a decisive role in achieving rapid and effective mitigation in such rescue scenarios. In this work, we model a particular rescue scenario as a modified asymmetric rendezvous game where limited communication capabilities are present between the two players. The scenario can be modeled as a co-operative Stackelberg Game where the rescuer acts as a leader in signaling his intent to the rescuee.
We present an efficient approach to obtaining the optimal signaling policy, as well as its robust counterpart, when the topology of the rescue environment is unknown. We also analyze the sensitivity of the optimal signaling policy to the velocities of the two players as further motivation for the robust solution. We observe that a completely robust approach in designing the signaling policy can lead to highly conservative solutions. To address this conservativeness, we then introduce a stochastic nature on the unknown topology and provide a signaling policy that probabilistic performance guarantees.
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