LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning

Existing game-theoretic planning methods assume that the robot knows the objective functions of the other agents a priori while, in practical scenarios, this is rarely the case. This paper introduces LUCIDGames, an inverse optimal control algorithm that is able to estimate the other agents' obj...

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Veröffentlicht in:	arXiv.org 2020-11
Hauptverfasser:	Simon Le Cleac'h, Schwager, Mac, Manchester, Zachary
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Bayesian analysis Computer & video games Control algorithms Control theory Cost function Game theory Kalman filters Optimal control Parameter estimation Parameter uncertainty Real time Robots Stability Trajectory planning
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