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Inverse Optimal Control for Identification in Non-Cooperative Differential Games

Rothfuß, Simon ORCID iD icon; Inga, Jairo; Köpf, Florian; Flad, Michael; Hohmann, Sören

Abstract (englisch):

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.

DOI: 10.1016/j.ifacol.2017.08.2538
Zitationen: 15
Zugehörige Institution(en) am KIT Institut für Regelungs- und Steuerungssysteme (IRS)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2017
Sprache Englisch
Identifikator ISSN: 2405-8963, 1474-6670
KITopen-ID: 1000075760
Erschienen in IFAC-PapersOnLine
Verlag International Federation of Automatic Control (IFAC)
Band 50
Heft 1
Seiten 14909 - 14915
Schlagwörter Inverse Optimal Control; Identification; Differential Games; Shared Control
Nachgewiesen in Dimensions
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