Related papers: A differential game approach to intrinsic encircle…
This paper considers a differential game approach to the predecessor-following vehicle platoon control problem without and with collision avoidance. In this approach, each vehicle tries to minimize the performance index (PI) of its control…
This paper proposes a novel approach for locally stable convergence to Nash equilibrium in duopoly noncooperative games based on a distributed event-triggered control scheme. The proposed approach employs extremum seeking, with sinusoidal…
In this paper, Nash equilibrium seeking among a network of players is considered. Different from many existing works on Nash equilibrium seeking in non-cooperative games, the players considered in this paper cannot directly observe the…
This paper aims to reduce the communication and computation costs of the Nash equilibrium seeking strategy for the $N$-coalition noncooperative games proposed in [1]. The objective is achieved in two manners: 1. An interference graph is…
Ensuring robust decision-making in multi-agent systems is challenging when agents have distinct, possibly conflicting objectives and lack full knowledge of each other's strategies. This is apparent in safety-critical applications such as…
Group control of connected and autonomous vehicles on automated highways is challenging for the advanced driver assistance systems (ADAS) and the automated driving systems (ADS). This paper investigates the differential game-based approach…
We consider autonomous racing of two cars and present an approach to formulate racing decisions as a non-cooperative non-zero-sum game. We design three different games where the players aim to fulfill static track constraints as well as…
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…
This paper studies a novel encirclement guaranteed cooperative pursuit problem involving $N$ pursuers and a single evader in an unbounded two-dimensional game domain. Throughout the game, the pursuers are required to maintain encirclement…
In this paper we investigate a differential game in which countably many dynamical objects pursue a single one. All the players perform simple motions. The duration of the game is fixed. The controls of a group of pursuers are subject to…
When modeling robot interactions as Nash equilibrium problems, it is desirable to place coupled constraints which restrict these interactions to be safe and acceptable (for instance, to avoid collisions). Such games are continuous with…
$ $This paper addresses the inverse problem for Linear-Quadratic (LQ) nonzero-sum $N$-player differential games, where the goal is to learn parameters of an unknown cost function for the game, called observed, given the demonstrated…
In this paper, we study the decision making of multiple autonomous vehicles at a roundabout. The behaviours of the vehicles depend on their aggressiveness, which indicates how much they value speed over safety. We propose a distributed…
In this paper, we address the inverse problem for linear-quadratic differential non-cooperative games with output-feedback. Given players' stabilizing feedback laws, the goal is to find cost function parameters that lead to a game for which…
From prehistoric encirclement for hunting to GPS orbiting the earth for positioning, target encirclement has numerous real world applications. However, encircling multiple non-cooperative targets in GPS-denied environments remains…
The pursuit-evasion game is studied for two adversarial active agents, modelled as a deterministic self-steering pursuer and a stochastic, cognitive evader. The pursuer chases the evader by reorienting its propulsion direction with limited…
We study noncooperative games, in which each player's objective is composed of a sequence of ordered- and potentially conflicting-preferences. Problems of this type naturally model a wide variety of scenarios: for example, drivers at a busy…
We study a simple motion differential game of many pursuers and one evader in the plane. We give a nonempty closed convex set in the plane, and the pursuers and evader move on this set. They cannot leave this set during the game. Control…
In this paper, we address the inverse problem in the case of linear-quadratic discrete-time dynamic non-cooperative games. Given feedback laws of players that are known to be a Nash equilibrium pair for a discrete-time linear system, we…
We consider a pursuit-evasion scenario involving a group of pursuers and a single evader in a two-dimensional unbounded environment. The pursuers aim to capture the evader in finite time while ensuring the evader remains enclosed within the…