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Prior work has applied game theory as it provides equilibrium concepts for non-cooperative dynamic problems. With this contribution, we formulate racing as a dynamic game and employ a variant of iLQR, called iLQGames, to solve the game. iLQGames finds trajectories for all players that satisfy the equilibrium conditions for a linear-quadratic approximation of the game and has been previously applied in traffic scenarios. We analyze the algorithm's applicability for trajectory planning in racing scenarios and evaluate it based on interaction awareness, competitiveness, and safety. 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</div>  <link rel="stylesheet" href="/static/css/childs.css"/> <link rel="stylesheet" href="/static/css/jade_style.css"/> <div class="object_main content_container"> <dl class="object_meta object_column"><dt class="mask_label">Titel:</dt> <dd class="mask_value"><h1>Open-Loop and Feedback Nash Trajectories for Competitive Racing with iLQGames</h1></dd> <dt class="mask_label">Dokumenttyp:</dt> <dd class="mask_value">Zeitschriftenaufsatz</dd> <dt class="mask_label">Autor(en):</dt> <dd class="mask_value">Rowold, M.; Langmann, A.; Lohmann, B.; Betz, J.</dd> <dt class="mask_label">Abstract:</dt> <dd class="mask_value"><div id="abstract_full" style="display:none">Interaction-aware trajectory planning is crucial for closing the gap between autonomous racing cars and human racing drivers. Prior work has applied game theory as it provides equilibrium concepts for non-cooperative dynamic problems. With this contribution, we formulate racing as a dynamic game and employ a variant of iLQR, called iLQGames, to solve the game. iLQGames finds trajectories for all players that satisfy the equilibrium conditions for a linear-quadratic approximation of the game and has been previously applied in traffic scenarios. We analyze the algorithm's applicability for trajectory planning in racing scenarios and evaluate it based on interaction awareness, competitiveness, and safety. With the ability of iLQGames to solve for open-loop and feedback Nash equilibria, we compare the behavioral outcomes of the two equilibrium concepts in simple scenarios on a straight track section.     <a href="#!" title="Text reduzieren" onclick="expandLongMetatext('abstract'); return false" class="mediatum-link-mediatum">«</a></div><div id="abstract_more"> Interaction-aware trajectory planning is crucial for closing the gap between autonomous racing cars and human racing drivers. Prior work has applied game theory as it provides equilibrium concepts for non-cooperative dynamic problems. With this contribution, we formulate racing as a dynamic game and employ a variant of iLQR, called iLQGames, to solve the game. iLQGames finds trajectories for all players that satisfy the equilibrium conditions for a linear-quadratic approximation of the game and...     <a href="#!" title="gesamten Text zeigen" onclick="expandLongMetatext('abstract'); return false" class="mediatum-link-mediatum">»</a></div></dd> <dt class="mask_label">Stichworte:</dt> <dd class="mask_value">Trajectories; competitive racing; iLQGames</dd> <dt class="mask_label">Dewey Dezimalklassifikation:</dt> <dd class="mask_value">620 Ingenieurwissenschaften</dd> <dt class="mask_label">Zeitschriftentitel:</dt> <dd class="mask_value">arXiv preprint arXiv:2402.01918</dd> <dt class="mask_label">Jahr:</dt> <dd class="mask_value">2024</dd> <dt class="mask_label">Jahr / Monat:</dt> <dd class="mask_value">2024-02</dd> <dt class="mask_label">Quartal:</dt> <dd class="mask_value">1. Quartal</dd> <dt class="mask_label">Monat:</dt> <dd class="mask_value">Feb</dd> <dt class="mask_label">Heft / Issue:</dt> <dd class="mask_value">2402.01918</dd> <dt class="mask_label">Sprache:</dt> <dd class="mask_value">en</dd> <dt class="mask_label">WWW:</dt> <dd class="mask_value"><a href="https://scholar.google.de/citations?view_op=view_citation&hl=en&user=_cvykREAAAAJ&citation_for_view=_cvykREAAAAJ%3ALkGwnXOMwfcC" target="_blank" title="In neuem Fenster anzeigen" class="mediatum-link-external">https://scholar.google.de/citations?view_op=view_citation&hl=en&user=_cvykREAAAAJ&citation_for_view=_cvykREAAAAJ:LkGwnXOMwfcC</a></dd> <dt class="mask_label">Publikationsdatum:</dt> <dd class="mask_value">02.02.2024</dd> <dt class="mask_label">Semester:</dt> <dd class="mask_value">WS 24-25</dd> <dt class="mask_label">TUM Einrichtung:</dt> <dd class="mask_value">Lehrstuhl f眉r Regelungstechnik</dd> <dt class="action_icon"><a href="/export/1767180/bibtex" target="bibtexdocument" title="BibTeX Informationen in neuem Fenster 枚ffnen" class="mediatum-link-mediatum"><img src="/static/img/bibtex.gif" class="mediatum-icon-small"/> BibTeX</a> </dt> </dl>  <div class="clear"></div> </div> <div class="clear"></div>  <div id="paths"><b>Vorkommen:</b><br/> <ul> <li><a href="/604993" class="breadcrumb-delimiter mediatum-link-mediatum">mediaTUM Gesamtbestand</a><a href="/670273" class="breadcrumb-delimiter mediatum-link-mediatum">Einrichtungen</a><a href="/670274" class="breadcrumb-delimiter mediatum-link-mediatum">Schools </a><a href="/1631378" class="breadcrumb-delimiter mediatum-link-mediatum">TUM School of Engineering and Design</a><a href="/1631381" class="breadcrumb-delimiter mediatum-link-mediatum">Departments</a><a href="/1631389" class="breadcrumb-delimiter mediatum-link-mediatum">Engineering Physics and Computation</a><a href="/670543" class="breadcrumb-delimiter mediatum-link-mediatum">Lehrstuhl f眉r Regelungstechnik (Prof. Lohmann)</a><a href="/1750488" class="mediatum-link-mediatum">2024</a> </li> </ul> <ul> <li><a href="/604993" class="breadcrumb-delimiter mediatum-link-mediatum">mediaTUM Gesamtbestand</a><a href="/1433087" class="breadcrumb-delimiter mediatum-link-mediatum">Hochschulbibliographie</a><a href="/1732573" class="breadcrumb-delimiter mediatum-link-mediatum">2024</a><a href="/1732574" class="breadcrumb-delimiter mediatum-link-mediatum">Schools und Fakult盲ten</a><a href="/1732859" class="breadcrumb-delimiter mediatum-link-mediatum">TUM School of Engineering and Design</a><a href="/1732942" class="mediatum-link-mediatum">Lehrstuhl f眉r Regelungstechnik (Prof. Lohmann)</a> </li> </ul> </div>  </div> <div style="clear:both;"></div> </div> <div style="clear:both"></div> <div id="footer"><span class="footer_left"><a href="mailto:mediatum@ub.tum.de" class="customcontent mediatum-link-external">mediatum@ub.tum.de</a><a href="/?item=604993_15.html" class="customcontent mediatum-link-internal">Kontakt</a><a href="/?item=604993_17.html" class="customcontent mediatum-link-internal">脺ber mediaTUM</a><a href="/?item=604993_14.html" class="customcontent mediatum-link-internal">Hilfe</a></span><span class="footer_right"><a href="/?item=604993_12.html" class="customcontent mediatum-link-internal">Nutzungsrechte</a><a href="/?item=604993_9.html" class="customcontent mediatum-link-internal">Datenschutz</a><a href="/?item=604993_18.html" class="customcontent mediatum-link-internal">Barrierefreiheit</a><a href="https://www.ub.tum.de/impressum" class="customcontent mediatum-link-external">Impressum</a></span> </div> </div> </body> </html>