论文标题
一类可及性游戏的近似解决方案
Approximate Solutions to a Class of Reachability Games
论文作者
论文摘要
在本文中，我们提出了一种在广泛的可及性游戏中找到近似NASH平衡的方法。这些游戏通常用于制定避免碰撞和目标满意度。我们的方法是在计算上有效的，可实时运行涉及多个玩家和十个州维度的方案。提出的方法构成了与原始游戏越来越精确近似的家族。我们的结果表征了这些近似值的质量，并在退缩的地平线，微创的控制环境中显示了操作。此外，作为一种特殊情况，我们的方法还将在单人游戏（最佳控制）设置中减少到基于局部梯度的优化，并为此设置存在多种有效算法。
In this paper, we present a method for finding approximate Nash equilibria in a broad class of reachability games. These games are often used to formulate both collision avoidance and goal satisfaction. Our method is computationally efficient, running in real-time for scenarios involving multiple players and more than ten state dimensions. The proposed approach forms a family of increasingly exact approximations to the original game. Our results characterize the quality of these approximations and show operation in a receding horizon, minimally-invasive control context. Additionally, as a special case, our method reduces to local gradient-based optimization in the single-player (optimal control) setting, for which a wide variety of efficient algorithms exist.
