2 papers
cs.RO2026
Online, Reachability-Aware, Sampling-Based Motion Planning
Brendan Gould, Zhiyuan Zhang, Panagiotis Tsiotras +1
Sampling-Based Model-Predictive Control (MPC) algorithms are a flexible class of controllers used for navigation on a wide range of robotic systems. Historically, such approaches h…
cs.RO2024
Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games
Zhiyuan Zhang, Panagiotis Tsiotras
We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equili…