Anytime computation algorithms for approach-evasion differential games
Optimization and Control
2013-10-01 v2
Abstract
This paper studies a class of approach-evasion differential games, in which one player aims to steer the state of a dynamic system to the given target set in minimum time, while avoiding some set of disallowed states, and the other player desires to achieve the opposite. We propose a class of novel anytime computation algorithms, analyze their convergence properties and verify their performance via a number of numerical simulations. Our algorithms significantly outperform the multi-grid method for the approach-evasion differential games both theoretically and numerically. Our technical approach leverages incremental sampling in robotic motion planning and viability theory.
Cite
@article{arxiv.1308.1174,
title = {Anytime computation algorithms for approach-evasion differential games},
author = {Erich Mueller and Minghui Zhu and Sertac Karaman and Emilio Frazzoli},
journal= {arXiv preprint arXiv:1308.1174},
year = {2013}
}