ASE 389: Modeling Multi-Agent Systems
Final Project - Fall 2021
Covariance Steering Games with Squared Wasserstein Distance Cost
In this project, we consider discrete-time linear covariance steering dynamic games where the objective of each player is chosen as the sum of control cost and the squared Wasserstein distance between the terminal distribution and their respective desired distribution. To solve this problem, we first turn it into a finite dimensional optimization problem for each player by using disturbance history feedback policy, and used iterative best response by solving the problem associated to each player iteratively by fixing the other player's policy. In the second approach, we associate the terminal Wasserstein distance with the expectation of a convex quadratic function of the state by linearizing around the terminal mean and covariance from the previous solution. This method allows us to turn the problem into an LQG game whose solution can be found by solving the associated Ricatti equation iteratively. Finally, we evaluate these approaches experimentally in terms of convergence and the final solution.
Simultaneous Control of Large Number of Agents (Swarm Robotics)[1]
Accelerated Learning in sampling based control algorithms (i.e. path integral control) [2]
Probabilistic Safe Trajectory Optimization [2]
Steering Probability Distribution of a Swarm to a desired distribution [1]
Safe trajectory optimization under stochastic noise using MPPI and Covariance Steering [2]
We extend covariance steering problems to game theoretic setting
We propose two approaches to solve the problem
We experimentally evaluate the convergence properties of the approaches
We show our results in simulations
Black, blue red and green ellipses show the confidence region of the initial, terminal and desired distributions for player 1 and player 2 respectively.
Contact:
{braquet, isinmertbalci} [at] utexas [dot] edu