Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games
Robotics
2024-09-19 v1
Abstract
We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equilibrium for problems where agents are coupled through their rewards and state constraints. We compare the proposed method against competing state-of-the-art techniques and showcase the computational benefits of the RD3G algorithm on several example problems.
Keywords
Cite
@article{arxiv.2409.12152,
title = {Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games},
author = {Zhiyuan Zhang and Panagiotis Tsiotras},
journal= {arXiv preprint arXiv:2409.12152},
year = {2024}
}