Distributed Autonomous Robotic Systems 8

pp 533-542

Predicting the Movements of Robot Teams Using Generative Models

  • Simon ButlerAffiliated withEEE Dept., Imperial College London
  • , Yiannis DemirisAffiliated withEEE Dept., Imperial College London

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When a robot plans its actions within an environment containing multiple robots, it is often necessary to take into account the actions and movements of the other robots to either avoid, counter, or cooperate with them, depending on the scenario. Our predictive system is based on the biologically-inspired, simulationtheoretic approach that uses internal generative models in single-robot applications. Here, we move beyond the single-robot case to illustrate how these generative models can predict the movements of the opponent’s robots, when applied to an adversarial scenario involving two robot teams. The system is able to recognise whether the robots are attacking or defending, and the formation they are moving in. It can then predict their future movements based on the recognised model. The results confirm that the speed of recognition and the accuracy of prediction depend on how well the models match the robots’ observed behaviour.