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arXiv · 2403.19641

Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game

Logan Beaver
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Abstract

This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demonstrate that an energy-optimal trajectory can be generated in milliseconds if the sequence of constraint activations is known a priori. Thus, rather than selecting an infinite-dimensional action from a function space, the agents select their actions from a finite number of constraints and determine the time that each becomes active. Furthermore, the agents can exactly encode their trajectory in a set of real numbers, rather than communicating their control action as an infinite-dimensional function. We demonstrate the performance of this algorithm in simulation and find an optimal trajectory in 45 milliseconds on a tablet PC.

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Logan Beaver. 2024-03-28. Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game. https://arxiv.org/abs/2403.19641

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