Anytime computation algorithms for stochastically parametric approach-evasion differential games
Author(s)Mueller, Erich; Frazzoli, Emilio; Yong, Sze Zheng; Zhu, Minghui
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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.
DepartmentMassachusetts 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
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Institute of Electrical and Electronics Engineers (IEEE)
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).
Author's final manuscript