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Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games
September 18, 2024 Β· Declared Dead Β· π IEEE International Conference on Robotics and Automation
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Authors
Zhiyuan Zhang, Panagiotis Tsiotras
arXiv ID
2409.12152
Category
cs.RO: Robotics
Citations
1
Venue
IEEE International Conference on Robotics and Automation
Last Checked
4 months ago
Abstract
We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equilibrium for problems where agents are coupled through their rewards and state constraints. We compare the proposed method against competing state-of-the-art techniques and showcase the computational benefits of the RD3G algorithm on several example problems.
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