Abstract
The paper addresses the problem of coordinating cooperative vehicles in road traffic scenarios. To this end, we formulate the problem as a Nash equilibrium problem and combine it with model-predictive control. We present an algorithm, which builds a bridge between Jacobi and Gauss-Seidel based approaches for computing Nash equilibria using a potential game setting, which has to be solved in real-time. Further, we use the dynamic programming approach to solve the non-linear, non-convex, coupled system of optimal control problems regarding a multi-agent decentralised scenario.
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