{"id":"https://openalex.org/W7105593118","doi":"https://doi.org/10.1109/tii.2025.3627632","title":"Game-Theoretic Safe Multiagent Motion Planning With Reachability Analysis for Dynamic and Uncertain Environments","display_name":"Game-Theoretic Safe Multiagent Motion Planning With Reachability Analysis for Dynamic and Uncertain Environments","publication_year":2025,"publication_date":"2025-11-13","ids":{"openalex":"https://openalex.org/W7105593118","doi":"https://doi.org/10.1109/tii.2025.3627632"},"language":null,"primary_location":{"id":"doi:10.1109/tii.2025.3627632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3627632","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2511.12160","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Wenbin Mai","orcid":"https://orcid.org/0009-0005-9164-9335"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Wenbin Mai","raw_affiliation_strings":["Department of Electrical and Computer Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Minghui Liwang","orcid":"https://orcid.org/0000-0002-1289-0130"},"institutions":[{"id":"https://openalex.org/I67001856","display_name":"Shanghai Institute of Technology","ror":"https://ror.org/00fjzqj15","country_code":"CN","type":"education","lineage":["https://openalex.org/I67001856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minghui Liwang","raw_affiliation_strings":["Department of Control Science and Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I67001856"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinlei Yi","orcid":"https://orcid.org/0000-0003-4299-0471"},"institutions":[{"id":"https://openalex.org/I67001856","display_name":"Shanghai Institute of Technology","ror":"https://ror.org/00fjzqj15","country_code":"CN","type":"education","lineage":["https://openalex.org/I67001856"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinlei Yi","raw_affiliation_strings":["Department of Control Science and Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I67001856"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaoyu Xia","orcid":"https://orcid.org/0000-0003-3526-3217"},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Xiaoyu Xia","raw_affiliation_strings":["School of Computing Technologies, RMIT University, Melbourne, VIC, Australia"],"affiliations":[{"raw_affiliation_string":"School of Computing Technologies, RMIT University, Melbourne, VIC, Australia","institution_ids":["https://openalex.org/I82951845"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Seyyedali Hosseinalipour","orcid":"https://orcid.org/0000-0003-4266-4000"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyyedali Hosseinalipour","raw_affiliation_strings":["Department of Electrical Engineering, University at Buffalo-SUNY, Getzville, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, University at Buffalo-SUNY, Getzville, NY, USA","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":null,"display_name":"Xianbin Wang","orcid":"https://orcid.org/0000-0003-4890-0748"},"institutions":[{"id":"https://openalex.org/I125749732","display_name":"Western University","ror":"https://ror.org/02grkyz14","country_code":"CA","type":"education","lineage":["https://openalex.org/I125749732"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xianbin Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Western University, London, ON, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Western University, London, ON, Canada","institution_ids":["https://openalex.org/I125749732"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.57138359,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":"2","first_page":"1484","last_page":"1495"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.40209999680519104,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.40209999680519104,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.1996999979019165,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.11100000143051147,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.7799999713897705},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7208999991416931},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6202999949455261},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5756000280380249},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5616999864578247},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.5001000165939331},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49799999594688416},{"id":"https://openalex.org/keywords/iterated-function","display_name":"Iterated function","score":0.47110000252723694},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45879998803138733}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.7799999713897705},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7208999991416931},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6944000124931335},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6202999949455261},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5756000280380249},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5616999864578247},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5357999801635742},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.5001000165939331},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49799999594688416},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4779999852180481},{"id":"https://openalex.org/C140479938","wikidata":"https://www.wikidata.org/wiki/Q5254619","display_name":"Iterated function","level":2,"score":0.47110000252723694},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45879998803138733},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.43479999899864197},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.383899986743927},{"id":"https://openalex.org/C2778079155","wikidata":"https://www.wikidata.org/wiki/Q288500","display_name":"Potential game","level":3,"score":0.3653999865055084},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.3292999863624573},{"id":"https://openalex.org/C145071142","wikidata":"https://www.wikidata.org/wiki/Q1411116","display_name":"Fictitious play","level":3,"score":0.3068000078201294},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C32407928","wikidata":"https://www.wikidata.org/wiki/Q2733833","display_name":"Best response","level":3,"score":0.28189998865127563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C107257861","wikidata":"https://www.wikidata.org/wiki/Q656316","display_name":"Coordination game","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2590999901294708}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tii.2025.3627632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3627632","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2511.12160","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2511.12160","pdf_url":"https://arxiv.org/pdf/2511.12160","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2511.12160","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2511.12160","pdf_url":"https://arxiv.org/pdf/2511.12160","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7083132266998291,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1176662209","display_name":null,"funder_award_id":"62503365","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1731802535","display_name":null,"funder_award_id":"ECCS-2512911","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6263580406","display_name":null,"funder_award_id":"62271424","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6449909301","display_name":null,"funder_award_id":"92367101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G764631407","display_name":null,"funder_award_id":"72171172","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320330193","display_name":"Chinese Academy of Engineering","ror":"https://ror.org/00z3yke57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Ensuring":[0],"safe,":[1],"robust,":[2],"and":[3,12,26,40,87,154,162,167],"scalable":[4],"motion":[5],"planning":[6],"for":[7,43],"multiagent":[8,66,141],"systems":[9],"in":[10,165],"dynamic":[11,51,70],"uncertain":[13],"environments":[14],"is":[15],"a":[16,49,69,92,140],"persistent":[17],"challenge,":[18],"driven":[19],"by":[20],"complex":[21],"interagent":[22],"interactions,":[23],"stochastic":[24],"disturbances,":[25],"model":[27],"uncertainties.":[28],"To":[29,84],"overcome":[30],"these":[31],"challenges,":[32],"particularly":[33],"the":[34,41,74,147,172],"computational":[35],"complexity":[36],"of":[37,174],"coupled":[38],"decision-making":[39],"need":[42],"proactive":[44],"safety":[45,135],"guarantees,":[46],"we":[47,90,138,170],"propose":[48],"reachability-enhanced":[50],"potential":[52,71],"game":[53],"(RE-DPG)":[54],"framework,":[55],"which":[56],"integrates":[57],"game-theoretic":[58],"coordination":[59,67],"into":[60,146],"reachability":[61],"analysis.":[62],"This":[63,117],"approach":[64],"formulates":[65],"as":[68],"game,":[72],"where":[73],"Nash":[75],"equilibrium":[76],"(NE)":[77],"defines":[78],"optimal":[79],"control":[80],"strategies":[81,122],"across":[82,176],"agents.":[83],"enable":[85],"scalability":[86],"decentralized":[88],"execution,":[89],"develop":[91],"neighborhood-dominated":[93],"iterative":[94],"best":[95],"response":[96],"scheme,":[97],"built":[98],"upon":[99],"an":[100,112],"iterated":[101],"<inline-formula":[102,113],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[103,114],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[104,115],"notation=\"LaTeX\">$\\varepsilon$</tex-math></inline-formula>-BR":[105],"process":[106],"that":[107],"guarantees":[108],"finite-step":[109],"convergence":[110,130],"to":[111,120,133],"notation=\"LaTeX\">$\\varepsilon$</tex-math></inline-formula>-NE.":[116],"allows":[118],"agents":[119],"compute":[121],"based":[123],"on":[124],"local":[125],"interactions":[126],"while":[127],"ensuring":[128],"theoretical":[129],"guarantees.":[131],"Furthermore,":[132],"ensure":[134],"under":[136],"uncertainty,":[137],"integrate":[139],"forward":[142],"reachable":[143],"set":[144],"mechanism":[145],"cost":[148],"function,":[149],"explicitly":[150],"modeling":[151],"uncertainty":[152],"propagation":[153],"enforcing":[155],"collision":[156],"avoidance":[157],"constraints.":[158],"Through":[159],"both":[160],"simulations":[161],"real-world":[163],"experiments":[164],"2-D":[166],"3-D":[168],"environments,":[169],"validate":[171],"effectiveness":[173],"RE-DPG":[175],"diverse":[177],"operational":[178],"scenarios.":[179]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-13T00:00:00"}
