Dynamic games are an effective paradigm for dealing with the control of multiple interacting
actors. This paper introduces augmented Lagrangian GAME-theoretic solver (ALGAMES), a …

Dynamic games are an effective paradigm for dealing with the control of multiple interacting
actors. This paper introduces ALGAMES (Augmented Lagrangian GAME-theoretic Solver), a …

In this work, we develop a scalable, local tra-jectory optimization algorithm that enables
robots to interact with other robots. It has been shown that agents' interactions can be …

We consider the problem of interaction-aware motion planning for automated vehicles in
general traffic situations. We model the interaction between the controlled vehicle and …

Capture-the-flag is a complex, challenging game that is a useful proxy for many problems in
robotics and other application areas. The game is adversarial, with multiple, potentially …

Differential dynamic programming (DDP) is a direct single shooting method for trajectory
optimization. Its efficiency derives from the exploitation of temporal structure (inherent to …

Automated vehicle coordination can be used to control vehicles across traffic intersections
safely and efficiently. This paper proposes a novel parallelizable algorithm, which solves the …

Generating optimal trajectories for a large numbers of vehicles in real-time becomes
extremely challenging when including realistic dynamic models and time-varying obstacle …

Many autonomous agents, such as intelligent vehicles, are inherently required to interact
with one another. Game theory provides a natural mathematical tool for robot motion …

Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only
a local search to solve a complex non-convex optimization problem. As a result, they cannot …