61 citations · 243 across the 64 of their papers we have counts for
77 papers
Inertia-Corrected Newton Method For Generalized Nash Equilibria in Dynamic Games with Optimality Verification
Zhiyuan Zhang, Panagiotis Tsiotras
Newton methods efficiently find Generalized Nash Equilibria (GNE) in dynamic games by solving for the KKT necessary conditions. These methods are fast and can support multi-agent M…
Game-Theoretic Control with Constrained Potential Surgery
Zhiyuan Zhang, Panagiotis Tsiotras
Constrained general-sum dynamic games are a popular formulation for highly interactive multi-agent planning problems. In recent years, Generalized Nash Equilibrium (GNE) solvers ha…
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…
Delayed Expansion AGT: Kinodynamic Planning with Application to Tractor-Trailer Parking
Dongliang Zheng, Yebin Wang, Stefano Di Cairano +1
Kinodynamic planning of articulated vehicles in cluttered environments faces additional challenges arising from high-dimensional state space and complex system dynamics. Built upon…
Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding
Ji Yin, Panagiotis Tsiotras, Karl Berntorp
This paper introduces a novel nonlinear stochastic model predictive control path integral (MPPI) method, which considers chance constraints on system states. The proposed belief-sp…
Multi-agent Task-Driven Exploration via Intelligent Map Compression and Sharing
Evangelos Psomiadis, Dipankar Maity, Panagiotis Tsiotras
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit the…