# Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game

arxiv（2024）

Abstract

This extended abstracts presents a method to generate energy-optimal
trajectories for multi-agent systems as a strategic-form game. Using recent
results in optimal control, we demonstrate that an energy-optimal trajectory
can be generated in milliseconds if the sequence of constraint activations is
known a priori. Thus, rather than selecting an infinite-dimensional action from
a function space, the agents select their actions from a finite number of
constraints and determine the time that each becomes active. Furthermore, the
agents can exactly encode their trajectory in a set of real numbers, rather
than communicating their control action as an infinite-dimensional function. We
demonstrate the performance of this algorithm in simulation and find an optimal
trajectory in 45 milliseconds on a tablet PC.

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