Inverse Optimal Control for Identification in Non-Cooperative Differential Games

This paper presents research on inverse optimal control in non-cooperative differential games. An inverse optimization framework for the identification of an unknown objective function of a game’s participant is introduced. The identified objective function yields the same trajectories as the ground...

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Bibliographic Details
Main Authors: Rothfuß, Simon, Inga, Jairo, Köpf, Florian, Flad, Michael, Hohmann, Sören
Format: Conference Proceeding
Language:English
Subjects:
Differential Games
Identification
Inverse Optimal Control
Shared Control
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Summary:This paper presents research on inverse optimal control in non-cooperative differential games. An inverse optimization framework for the identification of an unknown objective function of a game’s participant is introduced. The identified objective function yields the same trajectories as the ground truth objective function. We apply the presented methods in a human-machine cooperation scenario, where identification of human behavior is indispensable for automation design. The framework’s methods are evaluated through simulation of a driver cooperating with a driving assistance system based on a realistic vehicle dynamics model. The identification results are highly accurate and calculation performances motivate real-time applications.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2017.08.2538