We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express safety-critical optimal control problems found in mobile robot motion planning. Here, we focus on finding time-consistent solutions, in which future motion plans remain optimal even when a robot diverges from the plan early on due to, e.g., intrinsic dynamic uncertainty or extrinsic environment disturbances. Our main contribution is a computationally-efficient algorithm for multi-agent reach-avoid games which renders time-consistent solutions for all players. We demonstrate our approach in two- and three-player simulated driving scenarios, in which our method provides safe control strategies for all agents.
|Title of host publication
|2022 IEEE International Conference on Robotics and Automation, ICRA 2022
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2022
|39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States
Duration: May 23 2022 → May 27 2022
|Proceedings - IEEE International Conference on Robotics and Automation
|39th IEEE International Conference on Robotics and Automation, ICRA 2022
|5/23/22 → 5/27/22
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering