7 papers
Learning Dynamic Games for Cooperative Iterative Tasks
Mark Pustilnik, Francesco Borrelli
We consider cooperative and iterative tasks involving multiple agents whose interactions are modeled as a dynamic game with shared constraints. We propose a general learning framew…
Non Normalized Shared-Constraint Dynamic Games for Human-Robot Collaboration with Asymmetric Responsibility
Mark Pustilnik, Francesco Borrelli
This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety c…
Regulation-Aware Game-Theoretic Motion Planning for Autonomous Racing
Francesco Prignoli, Francesco Borrelli, Paolo Falcone +1
This paper presents a regulation-aware motion planning framework for autonomous racing scenarios. Each agent solves a Regulation-Compliant Model Predictive Control problem, where r…
Non-Normalized Solutions of Generalized Nash Equilibrium in Autonomous Racing
Mark Pustilnik, Antonio Loquercio, Francesco Borrelli
In dynamic games with shared constraints, Generalized Nash Equilibria (GNE) are often computed using the normalized solution concept, which assumes identical Lagrange multipliers f…
Generalized Nash Equilibrium Solutions in Dynamic Games With Shared Constraints
Mark Pustilnik, Francesco Borrelli
In dynamic games with shared constraints, Generalized Nash Equilibria (GNE) are often computed using the normalized solution concept, which assumes identical Lagrange multipliers f…
Clustering Heuristics for Robust Energy Capacitated Vehicle Routing Problem (ECVRP)
Mark Pustilnik, Francesco Borrelli
The paper presents an approach to solving the Robust Energy Capacitated Vehicle Routing Problem (RECVRP), focusing on electric vehicles and their limited battery capacity. A finite…
Learning Hierarchical Control Systems for Autonomous Systems with Energy Constraints
Charlott Vallon, Mark Pustilnik, Alessandro Pinto +1
This paper focuses on the design of hierarchical control architectures for autonomous systems with energy constraints. We focus on systems where energy storage limitations and slow…