Efficient Constrained Multi-Agent Trajectory Optimization Using Dynamic Potential Games
Maulik Bhatt,Yixuan Jia,Negar Mehr,Maulik Bhatt,Yixuan Jia,Negar Mehr
Although dynamic games provide a rich paradigm for modeling agents' interactions, solving these games for real-world applications is often challenging. Many real-world interactive settings involve general nonlinear state and input constraints that couple agents' decisions with one another. In this work, we develop an efficient and fast planner for interactive trajectory optimization in constrained...
