METHODS AND DEVICES FOR DEMONSTRATING THREE-PLAYER PURSUIT-EVASION GAME

摘要

Methods and devices for demonstrating three-player pursuit-evasion (PE) game are provided using a hardware-in-loop test-bed. Robots including pursuer robots and an evader robot are arranged on a solid surface. A drone is positioned flying above to oversee the robots to capture a video or an image sequence of the robots. A robot thread process and a drone thread process are implemented by a computer. In the robot thread process, a tracking-by-detection process is perform to provide a state of the robot including a location and a heading direction of the robot; a delay compensation is conducted; and a PE game is called to calculate a robot command. In the drone thread process, a drone control is calculated to make the drone follow an evader robot, the drone control is sent to the drone, and user commands are also checked.

主权项

1. A method for demonstrating a game theory by a hardware demonstrator, comprising:
arranging robots, comprising pursuer robots and an evader robot, on a solid surface; positioning a drone flying above to oversee the robots to capture a video or an image sequence of the robots; in a robot thread process implemented by a computer and comprising a Timer thread process, on a first Timer sending a first command to a robot, obtaining an image of the robot after receiving the first command, the image being captured by the drone, performing a tracking-by-detection process to provide a state of the robot comprising a location and a heading direction of the robot, conducting a delay compensation, and calling a pursuit-evasion (PE) game to calculate a second robot command; and in a drone thread process implemented by a drone controller in the computer, capturing images of the robots, calculating locations of the robots from the images of the robots, calculating a drone control to make the drone follow an evader robot, sending the drone control to the drone, and checking user commands, wherein when an exist command is not issued, repeating process in the drone thread by first re-capturing images of the robots.