Contingency Games for Multi-Agent Interaction

Understand

Contingency planning, wherein an agent generates a set of possible plans conditioned on the outcome of an uncertain event, is an increasingly popular way for robots to act under uncertainty.

• In this work we take a game-theoretic perspective on contingency planning, tailored to multi-agent scenarios in which a robot's actions impact the decisions of other agents and vice versa.
• The resulting contingency game allows the robot to efficiently interact with other agents by generating strategic motion plans conditioned on multiple possible intents for other actors in the scene.
• Contingency games are parameterized via a scalar variable which represents a future time when intent uncertainty will be resolved.