论文标题
迭代的最佳响应对多体资产游戏游戏
Iterative Best Response for Multi-Body Asset-Guarding Games
论文作者
论文摘要
我们提出了一种数值方法，可以在具有非线性动力学和非convex约束的多体，资产保护游戏中为玩家找到最佳轨迹。使用迭代最佳响应（IBR）方案，我们为每个玩家的最佳策略解决了其他玩家的轨迹，并固定了。利用顺序凸编程（SCP）的最新进展，我们将SCP用作IBR算法中的子例程，以有效地解决每个玩家约束轨迹优化问题的近似值。我们将方法应用于涉及多个追捕者和单个逃避者（即N-Versus-1参与）的保护资产游戏示例。在模拟中测试了结果的逃避轨迹，以使用常规的拦截指导法验证对追随者的成功逃避。
We present a numerical approach to finding optimal trajectories for players in a multi-body, asset-guarding game with nonlinear dynamics and non-convex constraints. Using the Iterative Best Response (IBR) scheme, we solve for each player's optimal strategy assuming the other players' trajectories are known and fixed. Leveraging recent advances in Sequential Convex Programming (SCP), we use SCP as a subroutine within the IBR algorithm to efficiently solve an approximation of each player's constrained trajectory optimization problem. We apply the approach to an asset-guarding game example involving multiple pursuers and a single evader (i.e., n-versus-1 engagements). Resulting evader trajectories are tested in simulation to verify successful evasion against pursuers using conventional intercept guidance laws.
