Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games
<|reference_start|>Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games: 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 equilibrium for problems where agents are coupled through their rewards and state constraints. We compare the proposed method against competing state-of-the-art techniques and showcase the computational benefits of the RD3G algorithm on several example problems.<|reference_end|>
@article{zhang2024residual,
    title={Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton
  Solver for Constrained General Sum Games},
    author={Zhiyuan Zhang and Panagiotis Tsiotras},
    journal={arXiv preprint arXiv:2409.12152},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.12152},
    primaryClass={cs.RO}
}