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As autonomous agents become more ubiquitous, they will eventually have to reason about the plans of other agents, which is known as theory of mind reasoning. We develop a planning-as-inference framework in which agents perform nested…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…
We study the interaction between a network designer and an adversary over a dynamical network. The network consists of nodes performing continuous-time distributed averaging. The goal of the network designer is to assist the nodes reach…
How can one detect friendly and adversarial behavior from raw data? Detecting whether an environment is a friend, a foe, or anything in between, remains a poorly understood yet desirable ability for safe and robust agents. This paper…
Lane changes are complex safety and throughput critical driver actions. Most lane changing models deal with lane-changing maneuvers solely from the merging driver's standpoint and thus ignore driver interaction. To overcome this…
We study a combinatorial problem inspired by the following scenario: fully autonomous vehicles drive on a multi-lane ($m \geq 2$) road. Each vehicle heads to its own destination and is allowed to exit the road only through a single…
We introduce a class of learning problems where the agent is presented with a series of tasks. Intuitively, if there is relation among those tasks, then the information gained during execution of one task has value for the execution of…
Two-player zero-sum repeated games are well understood. Computing the value of such a game is straightforward. Additionally, if the payoffs are dependent on a random state of the game known to one, both, or neither of the players, the…
We study the strategic interaction among vehicles in a non-cooperative platoon coordination game. Vehicles have predefined routes in a transportation network with a set of hubs where vehicles can wait for other vehicles to form platoons.…
This paper proposes a new reactive temporal logic planning algorithm for multiple robots that operate in environments with unknown geometry modeled using occupancy grid maps. The robots are equipped with individual sensors that allow them…
Modern autonomous driving algorithms often rely on learning the mapping from visual inputs to steering actions from human driving data in a variety of scenarios and visual scenes. The required data collection is not only labor intensive,…
We present a general framework to model strategic aspects and stable and fair resource allocations in networks via variants and generalizations of path coalitional games. In these games, a coalition of edges or vertices is successful if it…
We consider a scenario where a team of two unmanned aerial vehicles (UAVs) pursue an evader UAV within an urban environment. Each agent has a limited view of their environment where buildings can occlude their field-of-view. Additionally,…
Two-player quantitative zero-sum games provide a natural framework to synthesize controllers with performance guarantees for reactive systems within an uncontrollable environment. Classical settings include mean-payoff games, where the…
Offline reinforcement learning (RL) aims to find performant policies from logged data without further environment interaction. Model-based algorithms, which learn a model of the environment from the dataset and perform conservative policy…
The connection between game theory, convex optimization, and geometry is deep. There are many applications of linear programming methods and polyhedral representation conversion methods in game theory. In this paper, we discuss two more…
The travel costs of the players (travelers) in anonymous congestion games depend on their choices of routes and also on the states of the transportation network such as incidents, weather, and road work. In this extended abstract, we…
This paper tackles the problem of adversarial examples from a game theoretic point of view. We study the open question of the existence of mixed Nash equilibria in the zero-sum game formed by the attacker and the classifier. While previous…
Probabilistic concurrent/distributed strategies have so far not been investigated thoroughly in the context of imperfect information, where the Player has only partial knowledge of the moves made by the Opponent. In a situation where the…