Non Normalized Shared-Constraint Dynamic Games for Human-Robot Collaboration with Asymmetric Responsibility
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866917135265038336 |
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| author | Pustilnik, Mark Borrelli, Francesco |
| author_facet | Pustilnik, Mark Borrelli, Francesco |
| contents | This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety constraints while pursuing a common task. A key contribution is the introduction of a non-normalized equilibrium structure for the shared constraints. This structure allows the two agents to contribute different levels of effort towards enforcing safety requirements such as collision avoidance and inter-players spacing. We embed this non-normalized equilibrium into a receding-horizon optimal control scheme. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_08688 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Non Normalized Shared-Constraint Dynamic Games for Human-Robot Collaboration with Asymmetric Responsibility Pustilnik, Mark Borrelli, Francesco Robotics This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety constraints while pursuing a common task. A key contribution is the introduction of a non-normalized equilibrium structure for the shared constraints. This structure allows the two agents to contribute different levels of effort towards enforcing safety requirements such as collision avoidance and inter-players spacing. We embed this non-normalized equilibrium into a receding-horizon optimal control scheme. |
| title | Non Normalized Shared-Constraint Dynamic Games for Human-Robot Collaboration with Asymmetric Responsibility |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.08688 |