An Iterative Quadratic Method for General-Sum Differential Games with Feedback Linearizable Dynamics
David Fridovich-Keil,Vicenç Rubies-Royo,Claire J. Tomlin,David Fridovich-Keil,Vicenç Rubies-Royo,Claire J. Tomlin
Iterative linear-quadratic (ILQ) methods are widely used in the nonlinear optimal control community. Recent work has applied similar methodology in the setting of multi-player general-sum differential games. Here, ILQ methods are capable of finding local equilibria in interactive motion planning problems in real-time. As in most iterative procedures, however, this approach can be sensitive to init...
