A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria for Autonomous Racing

Dynamic games can be an effective approach for modeling interactive behavior between multiple competitive agents in autonomous racing and they provide a theoretical framework for simultaneous prediction and control in such scenarios. In this work, we propose DG-SQP, a numerical method for the soluti...

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Veröffentlicht in:	arXiv.org 2024-03
Hauptverfasser:	Zhu, Edward L, Borrelli, Francesco
Format:	Artikel
Sprache:	eng
Schlagworte:	Game theory Games Nonlinear dynamics Numerical methods Quadratic programming Racing Regularization Solvers
Online-Zugang:	Volltext
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