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Anytime computation algorithms for approach-evasion differential games
| Content Provider | Semantic Scholar |
|---|---|
| Author | Mueller, Erich Zhu, Minghui Karaman, Sertac Frazzoli, Emilio |
| Copyright Year | 2013 |
| Abstract | This paper studies a class of approach-evasion differential games, in which one player aims to steer the state of a dynamic system to the given target set in minimum time, while avoiding some set of disallowed states, and the other player desires to achieve the opposite. We propose a class of novel anytime computation algorithms, analyze their convergence properties and verify their performance via a number of numerical simulations. Our algorithms significantly outperform the multi-grid method for the approach-evasion differential games both theoretically and numerically. Our technical approach leverages incremental sampling in robotic motion planning and viability theory. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://arxiv.org/pdf/1308.1174v2.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
