Ordinal Potential Differential Games to Model Human-Machine Interaction in Vehicle-Manipulators

Balint Varga, Jairo Inga, Markus Lemmer, Sören Hohmann
Potential games have some useful characteristics related to the existence and computability of their Nash equilibria, which make their use attractive also in the context of modelling interactions. This paper presents the use of potential differential games to model human-machine interaction. We extend the definition of static ordinal potential games to differential games for modelling and analysing human-machine interaction in the control of large vehicle-manipulators. We provide sufficient and
more » ... necessary conditions for the existence of a potential differential game. In addition, we present an optimization formulation finding a linear-quadratic (LQ) potential differential game to a original game. The suitability of the proposed modelling approach is verified using simulation examples.
doi:10.5445/ir/1000132315 fatcat:xaugoo6b4ffu7ldgw3ur5xvule