Robotics: Science and Systems XVIII

Learning Mixed Strategies in Trajectory Games

Lasse Peters, David Fridovich-Keil, Laura Ferranti, Cyrill Stachniss, Javier Alonso-Mora, Forrest Laine


In multi-agent settings, game theory is a natural framework for describing the strategic interactions of agents whose objectives depend upon one another's behavior. Trajectory games capture these complex effects by design. In competitive settings, this makes them a more faithful interaction model than traditional "predict then plan" approaches. However, current game-theoretic planning methods have important limitations. In this work, we propose two main contributions. First, we introduce an offline training phase which reduces the online computational burden of solving trajectory games. Second, we formulate a lifted game which allows players to optimize multiple candidate trajectories in unison and thereby construct more competitive "mixed" strategies. We validate our approach on a number of experiments using the pursuit-evasion game "tag".



    AUTHOR    = {Lasse Peters AND David Fridovich-Keil AND Laura Ferranti AND Cyrill Stachniss AND Javier Alonso-Mora AND Forrest Laine}, 
    TITLE     = {{Learning Mixed Strategies in Trajectory Games}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2022}, 
    ADDRESS   = {New York City, NY, USA}, 
    MONTH     = {June}, 
    DOI       = {10.15607/RSS.2022.XVIII.051}