Research on Resource Allocation of Autonomous Swarm Robots Based on Game Theory

摘要

To address the issue of resource allocation optimization in autonomous swarm robots during emergency situations, this paper abstracts the problem as a two-stage extended game. In this game, participants are categorized as either resource-providing robots or resource-consuming robots. The strategies of the resource-providing robots involve resource production and pricing, whereas the strategies of the resource-consuming robots consist of determining the quantity to be purchased based on resource pricing. In the first stage of the game, the resource-providing robots use the Cournot game to determine the resource production according to market supply and demand conditions; in the second stage of the game, the resource-providing robots and the resource-consuming robots play the price game and establish the utility function of the swarm robots to seek the optimal pricing and the optimal purchasing strategy of the swarm robots. After the mathematical derivation, this paper demonstrates the existence of a single Nash equilibrium in the constructed game. Additionally, the inverse distributed iterative search algorithm solves the game’s optimal strategy. Finally, simulation verifies the game model’s validity. This study concludes that the designed game mechanism enables both sides to reach equilibrium and achieve optimal resource allocation.