Tactical Game-theoretic Decision-making with Homotopy Class Constraints

We propose a tactical homotopy-aware decision-making framework for game-theoretic motion planning in urban environments. We model urban driving as a generalized Nash equilibrium problem and employ a mixed-integer approach to tame the combinatorial aspect of motion planning. More specifically, by uti...

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Hauptverfasser:	Khayyat, Michael, Zanardi, Alessandro, Arrigoni, Stefano, Braghin, Francesco
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Multiagent Systems Computer Science - Robotics
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