论文标题
与社会偏好相关的责任相关的多代理碰撞避免
Responsibility-associated Multi-agent Collision Avoidance with Social Preferences
论文作者
论文摘要
本文介绍了一个新颖的社会偏好意识分散的安全控制框架，以解决避免多代理碰撞的责任分配问题。考虑到代理不一定会以对称方式进行合作，本文着重于具有不同合作水平的异质剂之间的半合作行为。利用社会价值取向（SVO）来量化个人自私的思想，我们提出了一个新颖的责任相关社会价值取向（R-SVO）的概念，以表达成对代理之间的预期相对社会含义。这用于根据相应的责任份额来重新定义每个代理人的社会偏好或个性，以促进协调方案，例如所有代理商以不对称方式互动的半合件碰撞避免。通过通过拟议的本地成对责任权重纳入这种相对的社会影响，我们为各个代理人开发了与责任相关的控制屏障功能的安全控制框架，并通过正式可证明的安全保证可以实现多代理碰撞的避免。提供了模拟来证明在多个多代理导航任务中所提出的框架的有效性和效率，例如位置交换游戏，自动驾驶汽车高速公路公路坡道合并方案以及循环位置交换游戏。
This paper introduces a novel social preference-aware decentralized safe control framework to address the responsibility allocation problem in multi-agent collision avoidance. Considering that agents do not necessarily cooperate in symmetric ways, this paper focuses on semi-cooperative behavior among heterogeneous agents with varying cooperation levels. Drawing upon the idea of Social Value Orientation (SVO) for quantifying the individual selfishness, we propose a novel concept of Responsibility-associated Social Value Orientation (R-SVO) to express the intended relative social implications between pairwise agents. This is used to redefine each agent's social preferences or personalities in terms of corresponding responsibility shares in contributing to the coordination scenario, such as semi-cooperative collision avoidance where all agents interact in an asymmetric way. By incorporating such relative social implications through proposed Local Pairwise Responsibility Weights, we develop a Responsibility-associated Control Barrier Function-based safe control framework for individual agents, and multi-agent collision avoidance is achieved with formally provable safety guarantees. Simulations are provided to demonstrate the effectiveness and efficiency of the proposed framework in several multi-agent navigation tasks, such as a position-swapping game, a self-driving car highway ramp merging scenario, and a circular position swapping game.
