{"id":"https://openalex.org/W4415180486","doi":"https://doi.org/10.23919/ecc65951.2025.11187086","title":"Analysis of Nash and Stackelberg Equilibria of Autonomous Mobility-on-Demand Systems in Mixed Traffic","display_name":"Analysis of Nash and Stackelberg Equilibria of Autonomous Mobility-on-Demand Systems in Mixed Traffic","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4415180486","doi":"https://doi.org/10.23919/ecc65951.2025.11187086"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187086","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059939539","display_name":"Fabio Paparella","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Fabio Paparella","raw_affiliation_strings":["Eindhoven University of Technology,Control Systems Technology Section,Eindhoven,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Control Systems Technology Section,Eindhoven,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030541395","display_name":"Cees Lucas","orcid":"https://orcid.org/0000-0003-3042-902X"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Clim Lucas","raw_affiliation_strings":["Eindhoven University of Technology,Control Systems Technology Section,Eindhoven,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Control Systems Technology Section,Eindhoven,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052638549","display_name":"Carlo Cenedese","orcid":"https://orcid.org/0000-0002-5366-8982"},"institutions":[{"id":"https://openalex.org/I75746372","display_name":"ZTE (United States)","ror":"https://ror.org/0518yg160","country_code":"US","type":"company","lineage":["https://openalex.org/I4210098582","https://openalex.org/I75746372"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlo Cenedese","raw_affiliation_strings":["ETH Z&#x00FC;rich,Department of Mechanical and Process Engineering,Z&#x00FC;rich,Switzerland"],"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,Department of Mechanical and Process Engineering,Z&#x00FC;rich,Switzerland","institution_ids":["https://openalex.org/I75746372"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023825594","display_name":"Mauro Salazar","orcid":"https://orcid.org/0000-0003-4433-5796"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mauro Salazar","raw_affiliation_strings":["Eindhoven University of Technology,Control Systems Technology Section,Eindhoven,The Netherlands"],"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Control Systems Technology Section,Eindhoven,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059939539"],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3396035,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2964","last_page":"2969"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9901000261306763,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9901000261306763,"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9678000211715698,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stackelberg-competition","display_name":"Stackelberg competition","score":0.8616999983787537},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.6708999872207642},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.6642000079154968},{"id":"https://openalex.org/keywords/best-response","display_name":"Best response","score":0.5314000248908997},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5013999938964844},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4478999972343445},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.36880001425743103}],"concepts":[{"id":"https://openalex.org/C199510392","wikidata":"https://www.wikidata.org/wiki/Q1184602","display_name":"Stackelberg competition","level":2,"score":0.8616999983787537},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.6708999872207642},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.6642000079154968},{"id":"https://openalex.org/C32407928","wikidata":"https://www.wikidata.org/wiki/Q2733833","display_name":"Best response","level":3,"score":0.5314000248908997},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5013999938964844},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4876999855041504},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4643000066280365},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4478999972343445},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.36880001425743103},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.3659999966621399},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.302700012922287},{"id":"https://openalex.org/C2988166257","wikidata":"https://www.wikidata.org/wiki/Q924286","display_name":"Traffic network","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.2818000018596649},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C88959737","wikidata":"https://www.wikidata.org/wiki/Q1546627","display_name":"Strategy","level":3,"score":0.26100000739097595},{"id":"https://openalex.org/C107257861","wikidata":"https://www.wikidata.org/wiki/Q656316","display_name":"Coordination game","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187086","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2064526960","https://openalex.org/W2078424621","https://openalex.org/W2103965104","https://openalex.org/W2112269231","https://openalex.org/W2118480861","https://openalex.org/W2177295793","https://openalex.org/W2962720916","https://openalex.org/W2963679997","https://openalex.org/W2987620918","https://openalex.org/W3121992965","https://openalex.org/W3136202407","https://openalex.org/W3154457355","https://openalex.org/W4234761190","https://openalex.org/W4385451859","https://openalex.org/W4391020142","https://openalex.org/W4399407375","https://openalex.org/W4400810012","https://openalex.org/W4400946797","https://openalex.org/W4401330471"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"analyzes":[2],"the":[3,31,42,65,68,74,81,94,99,108,116,122,126,132,147,156,164,168,172],"differences":[4],"between":[5,67],"Nash":[6,86],"and":[7,73,93,130],"Stackelberg":[8,114],"equilibria":[9,149],"of":[10,125,137,141,155,171],"Autonomous":[11],"Mobility-on-Demand":[12],"(AMoD)":[13],"systems":[14],"in":[15,47,153],"mixed":[16,48],"traffic":[17,49],"conditions,":[18,50],"whereby":[19],"self-driving":[20],"robotaxis":[21],"provide":[22],"on-demand":[23],"mobility,":[24],"possibly":[25],"pooling":[26],"users":[27],"together,":[28],"while":[29],"sharing":[30],"road":[32],"with":[33,77],"selfish":[34,58],"private":[35,75,95,173],"cars.":[36],"In":[37],"particular,":[38],"we":[39,63],"first":[40,82],"introduce":[41],"optimal":[43],"fleet":[44,72,92],"routing":[45],"problem":[46],"considering":[51],"a":[52,85,113,138],"car-road":[53],"network":[54],"where":[55,88],"also":[56],"private,":[57],"vehicles":[59],"are":[60,150],"present.":[61],"Second,":[62],"model":[64],"interactions":[66],"centrally":[69],"controlled":[70],"AMoD":[71],"cars":[76],"two":[78,148],"equilibrium":[79],"formulations:":[80],"corresponds":[83],"to":[84,98,112],"equilibrium,":[87,115],"each":[89],"agent":[90],"(the":[91,118],"users)":[96,129],"reacts":[97],"other":[100],"agent\u2019s":[101],"action":[102],"until":[103],"convergence":[104],"is":[105],"reached.":[106],"For":[107],"second":[109],"approach,":[110],"corresponding":[111],"leader":[117],"fleet)":[119],"can":[120,166],"predict":[121,167],"best":[123,169],"response":[124,170],"follower":[127],"(private":[128],"plan":[131],"strategy":[133],"accordingly.":[134],"The":[135],"results":[136],"case":[139],"study":[140],"Sioux":[142],"Falls,":[143],"USA,":[144],"indicate":[145],"that":[146,161],"very":[151],"similar":[152],"terms":[154],"fleet\u2019s":[157],"objective":[158],"function,":[159],"suggesting":[160],"even":[162],"if":[163],"operator":[165],"users,":[174],"no":[175],"benefit":[176],"arises.":[177]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-15T00:00:00"}
