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Lasse Peters

10 accepted papers

2026

Homotopy-Guided Potential Games for Congestion-Aware Navigation

Mohammed Irshadh Ismaaeel Sathyamangalam Imran, Lasse Peters, Michael Khayyat, Stefano Arrigoni, Francesco Braghin, Laura Ferranti
RA-L 2026

We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents but often converge to conservative, congested equilibria. Homotopy planners, on the other hand, can explore topologically

Cited by 0Source ↗Scholar ↗
2025

Generalizing Safety Beyond Collision-Avoidance via Latent-Space Reachability Analysis

Kensuke Nakamura, Lasse Peters, Andrea Bajcsy
RSS 2025poster

Hamilton-Jacobi (HJ) reachability is a rigorous mathematical framework that enables robots to simultaneously detect unsafe states and generate actions that prevent future failures. While in theory, HJ reachability can synthesize safe controllers for nonlinear systems and nonconvex constraints, in pr…

Cited by 8PDF ↗Scholar ↗
2025

Updating Robot Safety Representations Online From Natural Language Feedback

Leonardo Santos, Zirui Li, Lasse Peters, Somil Bansal, Andrea Bajcsy
ICRA 2025

Robots must operate safely when deployed in novel and human-centered environments, like homes. Current safe control approaches typically assume that the safety constraints are known a priori, and thus, the robot can precompute a corresponding safety controller. While this may make sense for some saf

Cited by 12Source ↗Scholar ↗
2024

Contingency Games for Multi-Agent Interaction

Lasse Peters, Andrea Bajcsy, Chih-Yuan Chiu, David Fridovich-Keil, Forrest Laine, Laura Ferranti +1
RA-L 2024

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

Cited by 40Source ↗Scholar ↗
2022

Learning Mixed Strategies in Trajectory Games

Lasse Peters, David Fridovich-Keil, Laura Ferranti, Cyrill Stachniss, Javier Alonso-Mora, Forrest Laine
RSS 2022poster

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…

Cited by 12Source ↗PDF ↗Scholar ↗
2021

Inferring Objectives in Continuous Dynamic Games from Noise-Corrupted Partial State Observations

Lasse Peters, David Fridovich-Keil, Vicenç Rubies-Royo, Claire Tomlin, Cyrill Stachniss
RSS 2021poster

Robots and autonomous systems must interact with one another and their environment to provide high-quality services to their users. Dynamic game theory provides an expressive theoretical framework for modeling scenarios involving multiple agents with differing objectives interacting over time. A c…

Cited by 44Source ↗PDF ↗code ↗Scholar ↗
2020

Efficient Iterative Linear-Quadratic Approximations for Nonlinear Multi-Player General-Sum Differential Games

David Fridovich-Keil, Ellis Ratner, Lasse Peters, Anca D. Dragan, Claire J. Tomlin
ICRA 2020poster

Many problems in robotics involve multiple decision making agents. To operate efficiently in such settings, a robot must reason about the impact of its decisions on the behavior of other agents. Differential games offer an expressive theoretical framework for formulating these types of multi-agent p…

Cited by 210Source ↗code ↗Scholar ↗