Emergent Coordination Through Game-Induced Nonlinear Opinion Dynamics

Haimin Hu, Kensuke Nakamura, Kai Chieh Hsu, Naomi Ehrich Leonard, Jaime Fernández Fisac

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

1 Scopus citations


We present a multi-agent decision-making framework for the emergent coordination of autonomous agents whose intents are initially undecided. Dynamic non-cooperative games have been used to encode multi-agent interaction, but ambiguity arising from factors such as goal preference or the presence of multiple equilibria may lead to coordination issues, ranging from the 'freezing robot' problem to unsafe behavior in safety-critical events. The recently developed nonlinear opinion dynamics (NOD) [1] provide guarantees for breaking deadlocks. However, choosing the appropriate model parameters automatically in general multi-agent settings remains a challenge. In this paper, we first propose a novel and principled procedure for synthesizing NOD based on the value functions of dynamic games conditioned on agents' intents. In particular, we provide for the two-player two-option case precise stability conditions for equilibria of the game-induced NOD based on the mismatch between agents' opinions and their game values. We then propose an optimization-based trajectory optimization algorithm that computes agents' policies guided by the evolution of opinions. The efficacy of our method is illustrated with a simulated toll station coordination example.

Original languageEnglish (US)
Title of host publication2023 62nd IEEE Conference on Decision and Control, CDC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9798350301243
StatePublished - 2023
Externally publishedYes
Event62nd IEEE Conference on Decision and Control, CDC 2023 - Singapore, Singapore
Duration: Dec 13 2023Dec 15 2023

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference62nd IEEE Conference on Decision and Control, CDC 2023

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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