{"id":"https://openalex.org/W3104143469","doi":"https://doi.org/10.1109/icra48506.2021.9560788","title":"Encoding Defensive Driving as a Dynamic Nash Game","display_name":"Encoding Defensive Driving as a Dynamic Nash Game","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3104143469","doi":"https://doi.org/10.1109/icra48506.2021.9560788","mag":"3104143469"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.04815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001188423","display_name":"Chih-Yuan Chiu","orcid":"https://orcid.org/0000-0002-2217-3418"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chih-Yuan Chiu","raw_affiliation_strings":["UC Berkeley,Dept. of Electrical Engineering & Computer Sciences","UC Berkeley,Department of Electrical Engineering and Computer Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Dept. of Electrical Engineering & Computer Sciences","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley,Department of Electrical Engineering and Computer Sciences","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070827615","display_name":"David Fridovich-Keil","orcid":"https://orcid.org/0000-0002-5866-6441"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Fridovich-Keil","raw_affiliation_strings":["Stanford University,Dept. of Aeronautics & Astronautics","Stanford University ()"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Dept. of Aeronautics & Astronautics","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["UC Berkeley,Dept. of Electrical Engineering & Computer Sciences","UC Berkeley,Department of Electrical Engineering and Computer Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Dept. of Electrical Engineering & Computer Sciences","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"UC Berkeley,Department of Electrical Engineering and Computer Sciences","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3079,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.36878955,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"10749","last_page":"10756"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9843000173568726,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9294000267982483,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6999722719192505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6864946484565735},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.5696408152580261},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5455827116966248},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5311735272407532},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.4864387512207031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47388097643852234},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.4369056820869446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27895164489746094},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.1822279989719391},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15604683756828308}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6999722719192505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6864946484565735},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.5696408152580261},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5455827116966248},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5311735272407532},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.4864387512207031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47388097643852234},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.4369056820869446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27895164489746094},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.1822279989719391},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15604683756828308},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra48506.2021.9560788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2011.04815","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.04815","pdf_url":"https://arxiv.org/pdf/2011.04815","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3104143469","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2011.04815","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:escholarship.org:ark:/13030/qt6nj8f0c5","is_oa":true,"landing_page_url":"https://escholarship.org/uc/item/6nj8f0c5","pdf_url":null,"source":{"id":"https://openalex.org/S4306400115","display_name":"eScholarship (California Digital Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2801248553","host_organization_name":"California Digital Library","host_organization_lineage":["https://openalex.org/I2801248553"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"doi:10.48550/arxiv.2011.04815","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.04815","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.04815","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.04815","pdf_url":"https://arxiv.org/pdf/2011.04815","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320333591","display_name":"Multidisciplinary University Research Initiative","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3104143469.pdf","grobid_xml":"https://content.openalex.org/works/W3104143469.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1544193923","https://openalex.org/W1550828720","https://openalex.org/W1578630563","https://openalex.org/W1581842928","https://openalex.org/W1988994102","https://openalex.org/W1993552276","https://openalex.org/W2003083760","https://openalex.org/W2055300044","https://openalex.org/W2062697270","https://openalex.org/W2106816694","https://openalex.org/W2116364955","https://openalex.org/W2254931350","https://openalex.org/W2288883172","https://openalex.org/W2890685830","https://openalex.org/W2897905535","https://openalex.org/W2904339943","https://openalex.org/W2913529137","https://openalex.org/W2964040381","https://openalex.org/W2972574621","https://openalex.org/W2982117252","https://openalex.org/W2990212897","https://openalex.org/W3012421647","https://openalex.org/W3046122647","https://openalex.org/W3087298202","https://openalex.org/W3089576059","https://openalex.org/W3090768122","https://openalex.org/W3120436098","https://openalex.org/W3185234327","https://openalex.org/W4244726376","https://openalex.org/W6632588503","https://openalex.org/W6691812751","https://openalex.org/W6755520583","https://openalex.org/W6782204448","https://openalex.org/W6788864276"],"related_works":["https://openalex.org/W3182258635","https://openalex.org/W3212787291","https://openalex.org/W2924470026","https://openalex.org/W3039520065","https://openalex.org/W3049691496","https://openalex.org/W30450795","https://openalex.org/W1506787475","https://openalex.org/W2962930314","https://openalex.org/W215550841","https://openalex.org/W2768425772","https://openalex.org/W2147670152","https://openalex.org/W2997909270","https://openalex.org/W2045237457","https://openalex.org/W1580369443","https://openalex.org/W2292969843","https://openalex.org/W2107834540","https://openalex.org/W2909254089","https://openalex.org/W2792185122","https://openalex.org/W3132311446","https://openalex.org/W1518665369"],"abstract_inverted_index":{"Robots":[0],"deployed":[1],"in":[2,8,19,118,145],"real-world":[3],"environments":[4],"should":[5],"operate":[6],"safely":[7],"a":[9,71,105],"robust":[10,127],"manner.":[11],"In":[12],"scenarios":[13],"where":[14],"an":[15,20,92],"\"ego\"":[16],"agent":[17],"navigates":[18],"environment":[21],"with":[22],"multiple":[23,149],"other":[24,110,129],"\"non-ego\"":[25],"agents,":[26],"two":[27],"modes":[28],"of":[29,74,79,141],"safety":[30,147],"are":[31,112],"commonly":[32],"proposed&#x2014;adversarial":[33],"robustness":[34,75],"and":[35,47,60],"probabilistic":[36],"constraint":[37],"satisfaction.":[38],"However,":[39],"while":[40],"the":[41,52,77,96,122,139],"former":[42],"is":[43],"generally":[44],"computationally":[45],"intractable":[46],"leads":[48],"to":[49,95,114,120],"overconservative":[50],"solutions,":[51],"latter":[53],"typically":[54],"relies":[55],"on":[56,85],"strong":[57],"distributional":[58],"assumptions":[59],"ignores":[61],"strategic":[62],"coupling":[63],"between":[64],"agents.To":[65],"avoid":[66],"these":[67],"drawbacks,":[68],"we":[69,90,103],"present":[70],"novel":[72],"formulation":[73,144],"within":[76],"framework":[78],"general-sum":[80],"dynamic":[81],"game":[82],"theory,":[83],"modeled":[84],"defensive":[86],"driving.":[87],"More":[88],"precisely,":[89],"prepend":[91,104],"adversarial":[93],"phase":[94],"ego":[97,123],"agent&#x2019;s":[98,124],"cost":[99],"function.":[100],"That":[101],"is,":[102],"time":[106],"interval":[107],"during":[108,134],"which":[109],"agents":[111],"assumed":[113],"be":[115],"temporarily":[116],"distracted,":[117],"order":[119],"render":[121],"equilibrium":[125],"trajectory":[126],"against":[128],"agents&#x2019;":[130],"potentially":[131],"dangerous":[132],"behavior":[133],"this":[135],"time.":[136],"We":[137],"demonstrate":[138],"effectiveness":[140],"our":[142],"new":[143],"encoding":[146],"via":[148],"traffic":[150],"scenarios.":[151]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
