Anytime computation algorithms for approach-evasion differential games

Erich Mueller; Minghui Zhu; Sertac Karaman; Emilio Frazzoli

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arXiv · 1308.1174

Anytime computation algorithms for approach-evasion differential games

Erich Mueller·Minghui Zhu·Sertac Karaman·Emilio Frazzoli

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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.

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BibTeX RIS

Erich Mueller, Minghui Zhu, Sertac Karaman, Emilio Frazzoli. 2013-09-28. Anytime computation algorithms for approach-evasion differential games. https://arxiv.org/abs/1308.1174

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