Distributed Potential iLQR: Scalable Game-Theoretic Trajectory Planning for Multi-Agent Interactions
Zach Williams,Jushan Chen,Negar Mehr,Zach Williams,Jushan Chen,Negar Mehr
In this work, we develop a scalable, local tra-jectory optimization algorithm that enables robots to interact with other robots. It has been shown that agents' interactions can be successfully captured in game-theoretic formulations, where the interaction outcome can be best modeled via the equilibria of the underlying dynamic game. However, it is typically challenging to compute equilibria of dyn...
