Multi-robot interaction via constrained linear quadratic game

Credit to: Kai Ren and Mustafa Emre Gürsoy
Paper: Kai Ren, Giulio Salizzoni, Mustafa Emre Gürsoy, and Maryam Kamgarpour. "Chance-constrained linear quadratic gaussian games for multi-robot interaction under uncertainty", 2025.
Code: https://github.com/renkai99/safe-CCLQGGame.

We employ a chance-constrained linear quadratic Gaussian (LQG) game approach to compute feedback control policies for multi-robot interactions, including goal-reaching and collision avoidance under system uncertainty. The experiments are repeated multiple times with randomized initial positions.