Non Normalized Shared-Constraint Dynamic Games for Human-Robot Collaboration with Asymmetric Responsibility

Abstract

This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety constraints while pursuing a common task. A key contribution is the introduction of a non-normalized equilibrium structure for the shared constraints. This structure allows the two agents to contribute different levels of effort towards enforcing safety requirements such as collision avoidance and inter-players spacing. We embed this non-normalized equilibrium into a receding-horizon optimal control scheme.