# Stackelberg Strategic Guidance for Heterogeneous Robots Collaboration

arXiv: https://arxiv.org/abs/2202.01877 · HTML: https://mlsanity.com/paper/2202.01877/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Feb 2022.

## Built on by (most cited first, 1 of 1)

- [Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots](https://mlsanity.com/paper/2402.09246/) (2024)

## Abstract (arXiv)

In this study, we explore the application of game theory, in particular Stackelberg games, to address the issue of effective coordination strategy generation for heterogeneous robots with one-way communication. To that end, focusing on the task of multi-object rearrangement, we develop a theoretical and algorithmic framework that provides strategic guidance for a pair of robot arms, a leader and a follower where the leader has a model of the follower's decision-making process, through the computation of a feedback Stackelberg equilibrium. With built-in tolerance of model uncertainty, the strategic guidance generated by our planning algorithm not only improves the overall efficiency in solving the rearrangement tasks, but is also robust to common pitfalls in collaboration, e.g., chattering.