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09/20/2023
GPSINDy: Data-Driven Discovery of Equations of Motion
In this paper, we consider the problem of discovering dynamical system m...
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09/19/2023
Game-theoretic Occlusion-Aware Motion Planning: an Efficient Hybrid-Information Approach
We present a novel algorithm for motion planning in complex, multi-agent...
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09/14/2023
Connected Autonomous Vehicle Motion Planning with Video Predictions from Smart, Self-Supervised Infrastructure
Connected autonomous vehicles (CAVs) promise to enhance safety, efficien...
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08/15/2023
Active Inverse Learning in Stackelberg Trajectory Games
Game-theoretic inverse learning is the problem of inferring the players'...
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07/16/2023
Feedback is All You Need: Real-World Reinforcement Learning with Approximate Physics-Based Models
We focus on developing efficient and reliable policy optimization strate...
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04/11/2023
Contingency Games for Multi-Agent Interaction
Contingency planning, wherein an agent generates a set of possible plans...
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03/31/2023
Soft-Bellman Equilibrium in Affine Markov Games: Forward Solutions and Inverse Learning
Markov games model interactions among multiple players in a stochastic, ...
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03/17/2023
Identifying Occluded Agents in Dynamic Games with Noise-Corrupted Observations
To provide safe and efficient services, robots must rely on observations...
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02/03/2023
Learning Players' Objectives in Continuous Dynamic Games from Partial State Observations
Robots deployed to the real world must be able to interact with other ag...
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01/04/2023
Cost Inference for Feedback Dynamic Games from Noisy Partial State Observations and Incomplete Trajectories
In multi-agent dynamic games, the Nash equilibrium state trajectory of e...
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10/03/2022
Cost Design in Atomic Routing Games
An atomic routing game is a multiplayer game on a directed graph. Each p...
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09/22/2022
Robust Forecasting for Robotic Control: A Game-Theoretic Approach
Modern robots require accurate forecasts to make optimal decisions in th...
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09/09/2022
Alternating Direction Method of Multipliers for Decomposable Saddle-Point Problems
Saddle-point problems appear in various settings including machine learn...
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07/17/2022
Inverse Matrix Games with Unique Quantal Response Equilibrium
In an inverse game problem, one needs to infer the cost function of the ...
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07/13/2022
Relationship Design for Socially Desirable Behavior in Static Games
Interactions among multiple self-interested agents may not necessarily y...
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04/30/2022
Learning Mixed Strategies in Trajectory Games
In multi-agent settings, game theory is a natural framework for describi...
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04/27/2022
Hierarchical Control for Cooperative Teams in Competitive Autonomous Racing
We study the problem of autonomous racing amongst teams composed of coop...
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04/13/2022
Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities
Connected and Autonomous Vehicles (CAVs) are becoming more widely deploy...
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03/30/2022
GTP-SLAM: Game-Theoretic Priors for Simultaneous Localization and Mapping in Multi-Agent Scenarios
Robots operating in complex, multi-player settings must simultaneously m...
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02/25/2022
Hierarchical Control for Multi-Agent Autonomous Racing
We develop a hierarchical controller for multi-agent autonomous racing. ...
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09/16/2021
Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games
We study the class of reach-avoid dynamic games in which multiple agents...
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06/07/2021
Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations
Robots and autonomous systems must interact with one another and their e...
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01/08/2021
The Computation of Approximate Generalized Feedback Nash Equilibria
We present the concept of a Generalized Feedback Nash Equilibrium (GFNE)...
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11/11/2020
Multi-Hypothesis Interactions in Game-Theoretic Motion Planning
We present a novel method for handling uncertainty about the intentions ...
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11/09/2020
Encoding Defensive Driving as a Dynamic Nash Game
Robots deployed in real-world environments should operate safely in a ro...
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11/01/2020
Approximate Solutions to a Class of Reachability Games
In this paper, we present a method for finding approximate Nash equilibr...
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04/06/2020
Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning
This paper proposes a framework for adaptively learning a feedback linea...
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02/11/2020
Inference-Based Strategy Alignment for General-Sum Differential Games
In many settings where multiple agents interact, the optimal choices for...
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10/29/2019
Feedback Linearization for Unknown Systems via Reinforcement Learning
We present a novel approach to control design for nonlinear systems, whi...
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10/01/2019
An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics
Iterative linear-quadratic (ILQ) methods are widely used in the nonlinea...
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09/10/2019
Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games
Differential games offer a powerful theoretical framework for formulatin...
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11/19/2018
Safe and Complete Real-Time Planning and Exploration in Unknown Environments
We present a new framework for motion planning that wraps around existin...
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11/14/2018
A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance
Robust motion planning is a well-studied problem in the robotics literat...
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09/27/2018
A Successive-Elimination Approach to Adaptive Robotic Sensing
We study the adaptive sensing problem for the multiple source seeking pr...
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06/14/2018
Data-Driven Decentralized Optimal Power Flow
The implementation of optimal power flow (OPF) methods to perform voltag...
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05/31/2018
Probabilistically Safe Robot Planning with Confidence-Based Human Predictions
In order to safely operate around humans, robots can employ predictive m...
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03/08/2018
Classification-based Approximate Reachability with Guarantees Applied to Safe Trajectory Tracking
Hamilton-Jacobi (HJ) reachability analysis has been developed over the p...
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10/12/2017
Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning
Motion planning is an extremely well-studied problem in the robotics com...
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07/20/2017