We address scaling of the "dynamic systems" approach for robot planning to multi-agent cooperation. To accommodate this extension it is necessary to carefully consider how individual behaviors contribute to the vector field. To avoid spurious minima and related problems a competition dynamics is introduced and its stability is analyzed. A system of two cooperating agents is designed, and examples are presented to illustrate the utility of this approach.
['Edward W. Large', 'Henrik I. Christensen', 'Ruzena Bajcsy']
Dynamic robot planning: cooperation through competition