Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games

Dennis R. Anthony, Duy P. Nguyen, David Fridovich-Keil, Jaime F. Fisac

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6830-6836
Number of pages7
ISBN (Electronic)9781728196817
DOIs
StatePublished - 2022
Externally publishedYes
Event39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States
Duration: May 23 2022May 27 2022

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference39th IEEE International Conference on Robotics and Automation, ICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period5/23/225/27/22

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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