Approximate Solutions to a Class of Reachability Games

11/01/2020
by   David Fridovich-Keil, et al.
0

In this paper, we present a method for finding approximate Nash equilibria in a broad class of reachability games. These games are often used to formulate both collision avoidance and goal satisfaction. Our method is computationally efficient, running in real-time for scenarios involving multiple players and more than ten state dimensions. The proposed approach forms a family of increasingly exact approximations to the original game. Our results characterize the quality of these approximations and show operation in a receding horizon, minimally-invasive control context. Additionally, as a special case, our method reduces to local optimization in the single-player (optimal control) setting, for which a wide variety of efficient algorithms exist.

READ FULL TEXT

page 1

page 5

research
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...
research
10/04/2018

A Note on the Nash Equilibria of Some Multi-Player Reachability / Safety Games

In this short note we study a class of multi-player, turn-based games wi...
research
12/12/2012

Efficient Nash Computation in Large Population Games with Bounded Influence

We introduce a general representation of large-population games in which...
research
10/19/2022

MPOGames: Efficient Multimodal Partially Observable Dynamic Games

Game theoretic methods have become popular for planning and prediction i...
research
04/08/2019

A Manifold of Polynomial Time Solvable Bimatrix Games

This paper identifies a manifold in the space of bimatrix games which co...
research
07/11/2016

From Behavior to Sparse Graphical Games: Efficient Recovery of Equilibria

In this paper we study the problem of exact recovery of the pure-strateg...
research
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...

Please sign up or login with your details

Forgot password? Click here to reset