Anytime computation algorithms for stochastically parametric approach-evasion differential games

Erich Mueller; Sze Zheng Yong; Minghui Zhu; Emilio Frazzoli

doi:10.1109/IROS.2013.6696902

Anytime computation algorithms for stochastically parametric approach-evasion differential games

Erich Mueller, Sze Zheng Yong, Minghui Zhu, Emilio Frazzoli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

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.

Original language	English (US)
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	3816-3821
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2013.6696902
State	Published - Dec 1 2013
Externally published	Yes
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: Nov 3 2013 → Nov 8 2013

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country	Japan
City	Tokyo
Period	11/3/13 → 11/8/13

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2013.6696902

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Cite this

Mueller, E., Yong, S. Z., Zhu, M., & Frazzoli, E. (2013). Anytime computation algorithms for stochastically parametric approach-evasion differential games. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3816-3821). [6696902] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696902

Anytime computation algorithms for stochastically parametric approach-evasion differential games. / Mueller, Erich; Yong, Sze Zheng; Zhu, Minghui; Frazzoli, Emilio.

IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 3816-3821 6696902 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Mueller, E, Yong, SZ, Zhu, M & Frazzoli, E 2013, Anytime computation algorithms for stochastically parametric approach-evasion differential games. in IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6696902, IEEE International Conference on Intelligent Robots and Systems, pp. 3816-3821, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 11/3/13. https://doi.org/10.1109/IROS.2013.6696902

Mueller E, Yong SZ, Zhu M, Frazzoli E. Anytime computation algorithms for stochastically parametric approach-evasion differential games. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 3816-3821. 6696902. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696902

Mueller, Erich ; Yong, Sze Zheng ; Zhu, Minghui ; Frazzoli, Emilio. / Anytime computation algorithms for stochastically parametric approach-evasion differential games. IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. pp. 3816-3821 (IEEE International Conference on Intelligent Robots and Systems).

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