Chance-constrained Linear Quadratic Gaussian Games for Multi-robot Interaction under Uncertainty
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866912536691998720 |
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| author | Ren, Kai Salizzoni, Giulio Gürsoy, Mustafa Emre Kamgarpour, Maryam |
| author_facet | Ren, Kai Salizzoni, Giulio Gürsoy, Mustafa Emre Kamgarpour, Maryam |
| contents | We address safe multi-robot interaction under uncertainty. In particular, we formulate a chance-constrained linear quadratic Gaussian game with coupling constraints and system uncertainties. We find a tractable reformulation of the game and propose a dual ascent algorithm. We prove that the algorithm converges to a feedback generalized Nash equilibrium of the reformulated game, ensuring the satisfaction of the chance constraints. We test our method in driving simulations and real-world robot experiments. Our method ensures safety under uncertainty and generates less conservative trajectories than single-agent model predictive control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_06776 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Chance-constrained Linear Quadratic Gaussian Games for Multi-robot Interaction under Uncertainty Ren, Kai Salizzoni, Giulio Gürsoy, Mustafa Emre Kamgarpour, Maryam Robotics Systems and Control We address safe multi-robot interaction under uncertainty. In particular, we formulate a chance-constrained linear quadratic Gaussian game with coupling constraints and system uncertainties. We find a tractable reformulation of the game and propose a dual ascent algorithm. We prove that the algorithm converges to a feedback generalized Nash equilibrium of the reformulated game, ensuring the satisfaction of the chance constraints. We test our method in driving simulations and real-world robot experiments. Our method ensures safety under uncertainty and generates less conservative trajectories than single-agent model predictive control. |
| title | Chance-constrained Linear Quadratic Gaussian Games for Multi-robot Interaction under Uncertainty |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.06776 |