@inproceedings{e3f46acb5461417088988267c9d89f8a,
title = "Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games",
abstract = "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.",
author = "Anthony, {Dennis R.} and Nguyen, {Duy P.} and David Fridovich-Keil and Fisac, {Jaime F.}",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 39th IEEE International Conference on Robotics and Automation, ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022",
year = "2022",
doi = "10.1109/ICRA46639.2022.9812243",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6830--6836",
booktitle = "2022 IEEE International Conference on Robotics and Automation, ICRA 2022",
address = "United States",
}