Wang, Xue-Fang;
Yan, Yunda;
Li, Zhongguo;
(2024)
Distributed robust seeking of Nash equilibria with applications to autonomous vehicles in mobile sensor networks.
In:
2024 43rd Chinese Control Conference (CCC).
(pp. pp. 5645-5650).
IEEE: Kunming, China.
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Abstract
This paper explores an estimation task in the context of autonomous vehicles utilizing a network of mobile sensors, where each vehicle operates based on local information. In this wireless sensor network, multiple sensors are distributed throughout an uncertain environment with adversarial effects including persistent network attacks, unknown disturbances, unmodeled dynamics and communication delays. In such imperfect environments, each vehicle aims to position itself optimally for the estimation task while simultaneously contributing to a collective goal that involves decision variables transmitted through network topologies. To tackle this complex problem, we model the autonomous vehicles as players in a constrained game with some private objective related to its positions and players aim at seeking positions corresponding to an Nash equilibrium (NE). The challenge lies in developing a robust distributed two-time-scale algorithm that makes these autonomous vehicles able to resist these disturbances and still converge to the NE which satisfies local feasibility constraints. To further illustrate the effectiveness of the proposed algorithm through theoretical analysis, its application is verified using velocity-actuated vehicles. The results demonstrate the algorithm’s ability to navigate through imperfect environments, considering the challenges posed by network attacks, disturbances, unmodeled dynamics, and communication delays. This research contributes to the advancement of autonomous vehicle systems in dynamic and uncertain scenarios, enhancing their resilience and reliability.
| Type: | Proceedings paper |
|---|---|
| Title: | Distributed robust seeking of Nash equilibria with applications to autonomous vehicles in mobile sensor networks |
| Event: | The 43rd Chinese Control Conference |
| Dates: | 28 Jul 2024 - 31 Jul 2024 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.23919/CCC63176.2024.10661991 |
| Publisher version: | https://doi.org/10.23919/CCC63176.2024.10661991 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Wireless sensor networks, Heuristic algorithms, Simulation, Estimation, Games, Sensors, Delays |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10190029 |
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