Game-theoretic multi-agent motion planning in a mixed environment
作者机构：School of Electrical and Electronic EngineeringNanyang Technological UniversitySingapore City 639798Singapore
出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)
年 卷 期：2024年第22卷第3期
页 面：379-393页
核心收录：
学科分类：0711[理学-系统科学] 07[理学] 081104[工学-模式识别与智能系统] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
主 题：Motion planning Differential potential game Multi-agent systems Constrained potential game
摘 要：The motion planning problem for multi-agent systems becomes particularly challenging when humans or human-controlled robots are present in a mixed *** address this challenge,this paper presents an interaction-aware motion planning approach based on game theory in a receding-horizon manner Leveraging the framework provided by dynamic potential games for handling the interactions among agents,this approach formulates the multi-agent motion planning problem as a differential potential game,highlighting the effectiveness of constrained potential games in facilitating interactive motion planning among ***,online learning techniques are incorporated to dynamically learn the unknown preferences and models of humans or human-controlled robots through the analysis of observed *** evaluate the effectiveness of the proposed approach,numerical simulations are conducted,demonstrating its capability to generate interactive trajectories for all agents,including humans and human-controlled agents,operating within the mixed *** simulation results illustrate the effectiveness of the proposed approach in handling the complexities of multi-agent motion planning in real-world scenarios.
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