2021/09/16 by Dennis R. Anthony, Duy P. Nguyen, Anthony, Dennis R. +5
Computer Science · Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #FOS: Electrical engineering #Formal Methods in Verification #Multiagent Systems (cs.MA) #Robotic Path Planning Algorithms #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2109.07673
openalex publication_date 2021/09/16 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
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.