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Hybrid Markov Game Controller Design Algorithms For Nonlinear Systems

R. Sharma, M. Gopal
2007 Zenodo  
Markov games can be effectively used to design controllers for nonlinear systems.  ...  Proposed approaches aim to achieve 'safe-consistent' and 'safe-universally consistent' controller behavior by hybridizing 'min-max', 'fictitious play' and 'cautious fictitious play' approaches drawn from  ...  An important area for future research could be a hybrid game theoretic formulation for the control problem with a time varying model for the disturbances.  ... 
doi:10.5281/zenodo.1080682 fatcat:ypnmfmiaeneullbz4eyynthxoi

Barrier States Embedded Iterative Dynamic Game for Robust and Safe Trajectory Optimization [article]

Hassan Almubarak, Evangelos A. Theodorou, Nader Sadegh
2022 arXiv   pre-print
The proposed method leverages a game theoretic differential dynamic programming approach with barrier states to handle parametric and non-parametric uncertainties in safety-critical control systems.  ...  In this paper, we propose a robust and safe trajectory optimization algorithm through solving a constrained min-max optimal control problem.  ...  The authors would like to thank the members of the Autonomous Control and Decision Systems (ACDS) Lab at Georgia Tech especially Yuichiro Aoyama and Bogdan Vlahov for the valuable discussions.  ... 
arXiv:2111.02979v2 fatcat:mvnf2f7duzayhlcixnbamlnz4m

The Scientific Contribution of Nikolai D. Botkin

Varvara L. Turova
2020 Festschrifts: Birthday, In Memory of ...  
Nikolai Botkin obtained theoretical results in the field of positional optimal control and constructing value functions [4  ...  In this article, we give a short description of the most important scientific results and a complete list of his publications.  ...  For seven and half years, he took part in numerous theoretical and applied projects.  ... 
dblp:conf/birthday/Turova20 fatcat:yxb767tgsveczl2bllntebmwku

Abstracts

2020 IEEE Transactions on Intelligent Vehicles  
We present a design and experimental validation of a nonlinear model predictive controller that is capable of handling these complex situations.  ...  Continuous estimation the driver's take-over readiness is critical for safe and timely transfer of control during the failure modes of autonomous vehicles.  ...  GTMPC performance is compared with level-k game theoretic controller.  ... 
doi:10.1109/tiv.2020.2971873 fatcat:af7apwjygrajxeenbiwv7grzii

Markov Game Controller Design Algorithms

Rajneesh Sharma, M. Gopal
2007 Zenodo  
Markov games are a generalization of Markov decision process to a multi-agent setting. Two-player zero-sum Markov game framework offers an effective platform for designing robust controllers.  ...  A more widely used approach for controller design is the H∞ optimal control, which suffers from high computational demand and at times, may be infeasible.  ...  CONCLUSIONS AND FUTURE WORK The paper presents two novel Markov game-theoretic algorithms for optimizing controllers that to produce safe and reliable controller designs.  ... 
doi:10.5281/zenodo.1071626 fatcat:pymrrsyy5jgujg67qmkdbkawom

Multi-Vehicle Control in Roundabouts using Decentralized Game-Theoretic Planning [article]

Arec Jamgochian, Kunal Menda, Mykel J. Kochenderfer
2022 arXiv   pre-print
We formulate a decentralized approach to game-theoretic planning by assuming that agents only play games within their observational vicinity, which we believe to be a more reasonable assumption for human  ...  Games are played in parallel for all strongly connected components of an interaction graph, significantly reducing the number of players and constraints in each game, and therefore the time required for  ...  This work is also supported by the COMET K2-Competence Centers for Excellent Technologies Programme of the Federal Ministry for Transport, Innovation and Technology (bmvit), the Federal Ministry for Digital  ... 
arXiv:2201.02718v1 fatcat:erciufhu65g6tdqcrq6wbiizty

2020 Index IEEE Transactions on Intelligent Vehicles Vol. 5

2020 IEEE Transactions on Intelligent Vehicles  
Taghavifar, H., +, TIV March 2020 53-62 G Game theory A Game Theoretic Model Predictive Controller With Aggressiveness Esti- mation for Mandatory Lane Change.  ...  ., +, TIV June 2020 345-355 Mobile robots A Game Theoretic Model Predictive Controller With Aggressiveness Esti- mation for Mandatory Lane Change.  ... 
doi:10.1109/tiv.2020.3048338 fatcat:4i46o4q23rftbhh2jzfmbumbey

Computational techniques for the verification of hybrid systems

C.J. Tomlin, I. Mitchell, A.M. Bayen, M. Oishi
2003 Proceedings of the IEEE  
We describe a particular verification technique for hybrid systems, based on two-person zero-sum game theory for automata and continuous dynamical systems.  ...  To understand the behavior of hybrid systems, to simulate, and to control these systems, theoretical advances, analyses, and numerical tools are needed.  ...  Her research interests include hybrid and nonlinear systems, user-interface analysis and design, flight management systems, and theoretical ecology. Ms.  ... 
doi:10.1109/jproc.2003.814621 fatcat:l4atbwxl5ngxvf7dkppmajwzdi

Equilibria in Campaign Spending Games: Theory and Data

Robert S. Erikson, Thomas R. Palfrey
2000 American Political Science Review  
We present a formal game-theoretic model to explain the simultaneity problem that makes it difficult to obtain unbiased estimates of the effects of both incumbent and challenger spending in U.S.  ...  in close races and should be progressively more severe in the range of safe races that are empirically observed.  ...  Conclusion This paper has examined a simple game-theoretical model of the spending game between competing candidates for public o ce, and shows how that model has strong implications for a nonlinear relationship  ... 
doi:10.2307/2585833 fatcat:nwimov24ybfn5domzelmdwob64

Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances [article]

Somil Bansal, Mo Chen, Sylvia Herbert, Claire J. Tomlin
2017 arXiv   pre-print
Its advantages include compatibility with general nonlinear system dynamics, formal treatment of bounded disturbances, and the availability of well-developed numerical tools.  ...  Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied to many small-scale systems  ...  Fast and Safe Tracking for Motion Planning Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems.  ... 
arXiv:1709.07523v1 fatcat:rsmzcy5dk5cl7n74cwwulgqhj4

Guaranteeing safety for heavy duty vehicle platooning: Safe set computations and experimental evaluations

Assad Alam, Ather Gattami, Karl H. Johansson, Claire J. Tomlin
2014 Control Engineering Practice  
Numerical safe sets are derived through the framework, under a worst-case scenario, and the minimum safe spacing is studied for heterogenous platoons.  ...  The main conclusion is that the relative distance utilized in commercial applications today can be reduced significantly with a suitable automatic control system.  ...  Acknowledgments This work is partially supported by Scania CV AB, the Swedish Center for Strategic Vehicle Research and Innovation (FFI) and the Swedish Research Council.  ... 
doi:10.1016/j.conengprac.2013.11.003 fatcat:qkm76z6m7zbnracllyjnbg22oq

Pursuit-evasion Game for Nonholonomic Mobile Robots With Obstacle Avoidance using NMPC

Mukhtar Sani, Bogdan Robu, Ahmad Hably
2020 2020 28th Mediterranean Conference on Control and Automation (MED)  
In this work, non-cooperative competitive games between two unmanned ground robots using Nonlinear Model Predictive Control (NMPC) while incorporating obstacle avoidance techniques are studied.  ...  The Pursuit-Evasion Game (PEG) being a typical class of a differential game is formulated as a zero-sum game with two homogeneous players in five different game scenarios.  ...  Similar approach of using nonlinear Model predictive control (NMPC) have been presented in [19] for two heterogeneous systems.  ... 
doi:10.1109/med48518.2020.9182862 dblp:conf/med/SaniRH20 fatcat:nqlfazqdybfa3otg5t5rx22lwa

LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning [article]

Simon Le Cleac'h, Mac Schwager, Zachary Manchester
2020 arXiv   pre-print
game-theoretic planner.  ...  Empirical results demonstrate that LUCIDGames improves the robot's performance over existing game-theoretic and traditional MPC planning approaches.  ...  The state, x k , contains a 2D position, a heading angle and a scalar velocity for each vehicle. The control input, u ν k , consists of an angular velocity and a scalar acceleration.  ... 
arXiv:2011.08152v1 fatcat:zpshlur4zbhilk34xpjpk2luu4

Conflict resolution for air traffic management: a study in multiagent hybrid systems

C. Tomlin, G.J. Pappas, S. Sastry
1998 IEEE Transactions on Automatic Control  
The method models the aircraft and the maneuver as a hybrid control system and calculates the maximal set of safe initial conditions for each aircraft so that separation is assured in the presence of uncertainties  ...  The safe resolution of trajectory conflicts between aircraft is necessary to the success of such a distributed control system.  ...  Section III presents the game theoretic approach to computing the safe set of initial conditions and control inputs for continuous systems.  ... 
doi:10.1109/9.664154 fatcat:d36pmegnhjf3hb54zgun4btkka

A game theoretic approach to controller design for hybrid systems

C.J. Tomlin, J. Lygeros, S. Shankar Sastry
2000 Proceedings of the IEEE  
We present a method to design controllers for safety specifications in hybrid systems.  ...  Then, using analysis based on optimal control and game theory for automata and continuous dynamical systems, we derive Hamilton-Jacobi equations whose solutions describe the boundaries of reachable sets  ...  His research interests include hierarchical systems, hybrid systems, nonlinear control, and their application to automated highway systems, air traffic management, uninhabited aerial vehicles, and power  ... 
doi:10.1109/5.871303 fatcat:pfao4lsm5bealh76akq6sgdwpi
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