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In this article, we present the development of a two-step optimization framework to deal with the design and selection of aircraft departure routes and the allocation of flights among these routes. The aim of the framework is to minimize…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
We propose a framework that enables autonomous vehicles (AVs) to proactively shape the intentions and behaviors of interacting human drivers. The framework employs a leader-follower game model with an adaptive role mechanism to predict…
In this paper, we present a novel, game-theoretic model of deception in two-player, zero-sum games. Our framework leverages an information asymmetry: one player (the deceiver) has access to accurate payoff information, while the other (the…
Game theory provides a framework for studying communication dynamics and emergent phenomena arising from rational agent interactions. We present a model framework for the Volunteer's Dilemma with four key contributions: (1) formulating it…
We present a new method for multi-agent planning involving human drivers and autonomous vehicles (AVs) in unsignaled intersections, roundabouts, and during merging. In multi-agent planning, the main challenge is to predict the actions of…
A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…
This paper develops a game-theoretic decision-making framework for autonomous driving in multi-agent scenarios. A novel hierarchical game-based decision framework is developed for the ego vehicle. This framework features an interaction…
Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…
This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in…
We study atomic routing games where every agent travels both along its decided edges and through time. The agents arriving on an edge are first lined up in a \emph{first-in-first-out} queue and may wait: an edge is associated with a…
Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We…
We present a novel two-player game in a chaotic dynamical system where players have opposing objectives regarding the system's behavior. The game is analyzed using a methodology from the field of chaos control known as partial control. Our…
Safe navigation in dense, urban driving environments remains an open problem and an active area of research. Unlike typical predict-then-plan approaches, game-theoretic planning considers how one vehicle's plan will affect the actions of…
Saddle point optimization is a critical problem employed in numerous real-world applications, including portfolio optimization, generative adversarial networks, and robotics. It has been extensively studied in cases where the objective…
Demand for fast and inexpensive parcel deliveries in urban environments has risen considerably in recent years. A framework is envisioned to enforce efficient last mile delivery in urban environments by leveraging a network of ride-sharing…
This paper provides an efficient computational scheme to handle general security games from an adversarial risk analysis perspective. Two cases in relation to single-stage and multi-stage simultaneous defend-attack games motivate our…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
In this paper, we address the problem of a two-player linear quadratic differential game with incomplete information, a scenario commonly encountered in multi-agent control, human-robot interaction (HRI), and approximation methods for…
Many real-world games contain parameters which can affect payoffs, action spaces, and information states. For fixed values of the parameters, the game can be solved using standard algorithms. However, in many settings agents must act…