7 accepted papers
Two-vehicle racing is natural example of a competitive dynamic game. As with most dynamic games, there are many ways in which the underlying solution concept can be structured, resulting in different equilibrium concepts. The assumed solution concept influences the behaviors of two interacting playe
Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes other than spheres. This paper proposes a framework for handling collision detection between polyhedral shapes. We frame th
Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios
In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another's behavior. Trajectory games capture these complex effects by design. In competitive settings, this makes them a more faithful interaction model th…
We present a novel method for handling uncertainty about the intentions of non-ego players in trajectory games, with application to motion planning for autonomous vehicles. Our method models the uncertainty about the intention of other agents by constructing multiple hypotheses about the objectives…
A framework is presented for handling a potential loss of observability of a dynamical system in a provably safe way. Inspired by the fragility of data-driven perception systems used by autonomous vehicles, we formulate the problem that arises when a sensing modality fails or is found to be untrustw…
A method is presented for solving the discrete-time finite-horizon Linear Quadratic Regulator (LQR) problem subject to auxiliary linear equality constraints, such as fixed end-point constraints. The method explicitly determines an affine relationship between the control and state variables, as in st…