Geometric topology based cooperation for multiple robots in adversarial environments

This paper addresses the cooperation problem for a team of mobile robots in adversarial environments. Considering the mutual influence among the robots, two key factors are defined: the impact factor and the suffering factor. A stochastic assignment model is built, based on the geometric topology of the targets, through which the robots can exhibit temporal cooperation. To reduce computational complexity, a genetic algorithm is employed to optimize the relative weights of the impact factor and the suffering factor, and after that, the Improved Hungarian Algorithm is used to solve the assignment problem. Both simulation and experimental results demonstrate the effectiveness of the proposed method.