Anytime computation algorithms for stochastically parametric approach-evasion differential games
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Frazzoli_Anytime computation.pdf
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Author(s)
Mueller, Erich
Frazzoli, Emilio
Yong, Sze Zheng
Zhu, Minghui
Date Issued
November 2013
Journal
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Mueller, Erich, Sze Zheng Yong, Minghui Zhu, and Emilio Frazzoli. “Anytime Computation Algorithms for Stochastically Parametric Approach-Evasion Differential Games.” 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (November 2013).
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Author's final manuscript
Abstract
We consider an approach-evasion differential game where the inputs of one of the players are upper bounded by a random variable. The game enjoys the order preserving property where a larger relaxation of the random variable induces a smaller value function. Two numerical computation algorithms are proposed to asymptotically recover the expected value function. The performance of the proposed algorithms is compared via a stochastically parametric homicidal chauffeur game. The algorithms are also applied to the scenario of merging lanes in urban transportation.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/IROS.2013.6696902
