Mixed-Strategy Nash Equilibrium for Crowd Navigation

arXiv:2403.01537v1 Announce Type: cross
Abstract: We address the problem of finding mixed-strategy Nash equilibrium for crowd navigation. Mixed-strategy Nash equilibrium provides a rigorous model for the robot to anticipate uncertain yet cooperative human behavior in crowds, but the computation cost is often too high for scalable and real-time decision-making. Here we prove that a simple iterative Bayesian updating scheme converges to the Nash equilibrium of a mixed-strategy social navigation game. Furthermore, we propose a data-driven framework to construct the game …

abstract arxiv behavior computation cost cs.gt cs.lg cs.ro decision equilibrium human making mixed nash equilibrium navigation prove real-time robot scalable strategy type uncertain