Nash equilibrium seeking in non-cooperative heterogeneous multi-robot systems via output regulation

Dong, Yi ORCID: 0000-0003-3047-7777, Li, Zhongguo, Ehsan, Shoaib, Ding, Zhengtao and Huang, Xiaowei ORCID: 0000-0001-6267-0366 (2025) Nash equilibrium seeking in non-cooperative heterogeneous multi-robot systems via output regulation Neurocomputing, 619. p. 129179. ISSN 0925-2312, 1872-8286

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Abstract

This paper presents a study on Nash equilibrium seeking in noncooperative games within multi-robot systems, a topic of increasing importance in diverse sectors including civil, security, and military. Unlike conventional approaches where players can directly observe the actions of others, our method assumes limited visibility, where players can only communicate through an undirected and connected communication graph. We introduce a novel distributed control approach, integrating gradient play with a consensus protocol. This method facilitates effective Nash equilibrium seeking by leveraging information shared among neighboring robots in heterogeneous linear dynamic systems. The proposed solution employs a high-level distributed Nash equilibrium-seeking algorithm, serving as an optimal reference generator for each robot to track the Nash equilibrium, and an advanced output regulation technique, aiming to regulate the output (e.g., position) of the robots with respect to the obtained references. Theoretical analysis confirms the convergence of our algorithm through Lyapunov stability analysis. The effectiveness and practical applicability of our approach are validated through numerical simulations and empirical testing with physical robots, highlighting its efficacy and utility in real-world scenarios.

Item Type:	Article
Uncontrolled Keywords:	Multi-robot systems, Heterogeneous systems, Non-cooperative games, Nash equilibrium seeking, Output regulation
Divisions:	Faculty of Science & Engineering Faculty of Science & Engineering > School of Electrical Engineering, Electronics and Computer Science
Depositing User:	Symplectic Admin
Date Deposited:	03 Jan 2025 11:28
Last Modified:	28 Feb 2026 14:48
DOI:	10.1016/j.neucom.2024.129179
Open Access URL:	https://doi.org/10.1016/j.neucom.2024.129179
Related Websites:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3189478
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