Author:
Year: 2022
- SLAM as a game with an optimal solution
- usefull in high dynamic scenarios (traffic)
- this uses an iterative best response (IBR) scheme, in which each player takes a turn solving for their optimal strategy while assuming all other players’ strategies are fixed
- IBR can be solved with a factor graph framework
Preliminaries:
- there are
$N$ players: one ego player and the others - jointly estimate trajectories off ego player and non-ego playerS
- the ego player observes
$N_l$ landmarks and players observe other players positions - Nash Equilibrium : a set of control input reaches a Nash Equilibrium if no player can lower their cost by deviating their input, the other players input being fixed