Abstract
Constrained general-sum dynamic games are a popular formulation for highly interactive multi-agent planning problems. In recent years, Generalized Nash Equilibrium (GNE) solvers have achieved real-time performance for small dynamic games. However, solution speed still remains a bottleneck, and controlling even a small number of agents (e.g., more than four) in a dynamic task remains elusive. In addition, Newton solvers that focus on the first-order conditions are vulnerable to non-Nash saddle points, limiting the usefulness of the provided solution. In this work, we propose a fast and versatile interior point solver for constrained dynamic games, along with a computationally efficient second-order correction that increases the probability of converging to a local GNE solution in constrained dynamic games. The performance of the proposed method is evaluated on numerical benchmarks and a physical experiment involving scaled race cars.
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Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Zhang, Z., & Tsiotras, P. (2026). Game-Theoretic Control with Constrained Potential Surgery. https://omanscience.com/en/articles/game-theoretic-control-with-constrained-potential-surgery
MLA 9
Zhang, Zhiyuan, and Panagiotis Tsiotras. "Game-Theoretic Control with Constrained Potential Surgery." https://omanscience.com/en/articles/game-theoretic-control-with-constrained-potential-surgery.
Chicago (author–date)
Zhang, Zhiyuan, and Panagiotis Tsiotras. 2026. "Game-Theoretic Control with Constrained Potential Surgery." https://omanscience.com/en/articles/game-theoretic-control-with-constrained-potential-surgery.
Harvard
Zhang, Z. and Tsiotras, P. (2026) 'Game-Theoretic Control with Constrained Potential Surgery', Available at: https://omanscience.com/en/articles/game-theoretic-control-with-constrained-potential-surgery.
Vancouver
Zhang Z, Tsiotras P. Game-Theoretic Control with Constrained Potential Surgery. https://omanscience.com/en/articles/game-theoretic-control-with-constrained-potential-surgery
IEEE
Z. Zhang, and P. Tsiotras, "Game-Theoretic Control with Constrained Potential Surgery," https://omanscience.com/en/articles/game-theoretic-control-with-constrained-potential-surgery.