Contingency Games for Multi-Agent Interaction

Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty. In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios in which a robot's actions impact the...

Online and offline learning of player objectives from partial observations in dynamic games

Robots deployed to the real world must be able to interact with other agents in their environment. Dynamic game theory provides a powerful mathematical framework for modeling scenarios in which agents have individual objectives and interactions evolve over time. However, a key limitation of such techniques is that they require a priori...

Cost Inference for Feedback Dynamic Games from Noisy Partial State Observations and Incomplete Trajectories

In multi-agent dynamic games, the Nash equilibrium state trajectory of each agent is determined by its cost function and the information pattern of the game. However, the cost and trajectory of each agent may be unavailable to the other agents. Prior work on using partial observations to infer the costs in dynamic games assumes an open-loop...

Scenario-Game ADMM: A Parallelized Scenario-Based Solver for Stochastic Noncooperative Games

Decision-making in multi-player games can be extremely challenging, particularly under uncertainty. In this work, we propose a new sample-based approximation to a class of stochastic, general-sum, pure Nash games, where each player has an expected-value objective and a set of chance constraints. This new approximation scheme inherits the...

Learning Mixed Strategies in Trajectory Games

In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another’s behavior. Trajectory games capture these complex effects by design. In competitive settings, this makes them a more faithful interaction model than traditional “predict then plan” approaches....