Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Efficient Iterative Linear-Quadratic Approximations for Nonlinear
  Multi-Player General-Sum Differential Games   Many problems in robotics involve multiple decision making agents. To operate
efficiently in such settings, a robot must reason about the impact of its
decisions on the behavior of other agents. Differential games offer an
expressive theoretical framework for formulating these types of multi-agent
problems. Unfortunately, most numerical solution techniques scale poorly with
state dimension and are rarely used in real-time applications. For this reason,
it is common to predict the future decisions of other agents and solve the
resulting decoupled, i.e., single-agent, optimal control problem. This
decoupling neglects the underlying interactive nature of the problem; however,
efficient solution techniques do exist for broad classes of optimal control
problems. We take inspiration from one such technique, the iterative
linear-quadratic regulator (ILQR), which solves repeated approximations with
linear dynamics and quadratic costs. Similarly, our proposed algorithm solves
repeated linear-quadratic games. We experimentally benchmark our algorithm in
several examples with a variety of initial conditions and show that the
resulting strategies exhibit complex interactive behavior. Our results indicate
that our algorithm converges reliably and runs in real-time. In a three-player,
14-state simulated intersection problem, our algorithm initially converges in <
0.25s. Receding horizon invocations converge in < 50 ms in a hardware
collision-avoidance test.

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The categories of this paper are: nucl-ex
20
The categories of this paper are: acc-phys
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The categories of this paper are: hep-ex
24
The categories of this paper are: dg-ga
26
The categories of this paper are: bayes-an
13
The categories of this paper are: quant-ph
11
The categories of this paper are: hep-lat
37
The categories of this paper are: supr-con
28
The categories of this paper are: alg-geom
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The categories of this paper are: q-alg
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The categories of this paper are: chao-dyn
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The categories of this paper are: nucl-th
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The categories of this paper are: gr-qc
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The categories of this paper are: hep-ph
35
The categories of this paper are: mtrl-th
32
The categories of this paper are: atom-ph