Game-Theoretic Planning for Risk-Aware Interactive Agents
Mingyu Wang,Negar Mehr,Adrien Gaidon,Mac Schwager,Mingyu Wang,Negar Mehr,Adrien Gaidon,Mac Schwager
Modeling the stochastic behavior of interacting agents is key for safe motion planning. In this paper, we study the interaction of risk-aware agents in a game-theoretical framework. Under the entropic risk measure, we derive an iterative algorithm for approximating the intractable feedback Nash equilibria of a risk-sensitive dynamic game. We use an iteratively linearized approximation of the syste...
