残差后裔动态博弈（RD3G）--受约束泛和博弈的快速牛顿求解器

arXiv - CS - Robotics Pub Date : 2024-09-18 DOI:arxiv-2409.12152

Zhiyuan Zhang, Panagiotis Tsiotras

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引用次数: 0

摘要

我们提出了残差后裔动态博弈（RD3G），这是一种基于牛顿的求解器，适用于受约束的多代理博弈控制问题。所提出的求解器可以为代理通过其奖励和状态约束耦合的问题寻求局部纳什均衡。我们将提出的方法与最先进的竞争技术进行了比较，并在几个示例问题上展示了 RD3G 算法的计算优势。

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Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games

We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equilibrium for problems where agents are coupled through their rewards and state constraints. We compare the proposed method against competing state-of-the-art techniques and showcase the computational benefits of the RD3G algorithm on several example problems.

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arXiv - CS - Robotics

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