{"id":"https://openalex.org/W7126045407","doi":"https://doi.org/10.48550/arxiv.2601.20054","title":"Game-Theoretic Autonomous Driving: A Graphs of Convex Sets Approach","display_name":"Game-Theoretic Autonomous Driving: A Graphs of Convex Sets Approach","publication_year":2026,"publication_date":"2026-01-27","ids":{"openalex":"https://openalex.org/W7126045407","doi":"https://doi.org/10.48550/arxiv.2601.20054"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2601.20054","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5124243936","display_name":"Nikolaj K\u00e4fer","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"K\u00e4fer, Nikolaj","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124180630","display_name":"Ahmed Khalil","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khalil, Ahmed","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090463725","display_name":"Edward Huynh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huynh, Edward","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090183475","display_name":"Efstathios Bakolas","orcid":"https://orcid.org/0000-0003-4104-0108"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bakolas, Efstathios","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5124228137","display_name":"David Fridovich-Keil","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fridovich-Keil, David","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5124243936"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.6183000206947327,"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":0.6183000206947327,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.21070000529289246,"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/T10524","display_name":"Traffic control and management","score":0.07930000126361847,"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/regular-polygon","display_name":"Regular polygon","score":0.6069999933242798},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4717999994754791},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.44369998574256897},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4203000068664551},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.3978999853134155},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.3873000144958496},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.38659998774528503},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.3855000138282776},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.38119998574256897}],"concepts":[{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.6069999933242798},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5446000099182129},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4717999994754791},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.45660001039505005},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4203000068664551},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.3978999853134155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.396699994802475},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.3873000144958496},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.38659998774528503},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.3855000138282776},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.38119998574256897},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.376800000667572},{"id":"https://openalex.org/C12108790","wikidata":"https://www.wikidata.org/wiki/Q2234833","display_name":"Convex analysis","level":4,"score":0.36419999599456787},{"id":"https://openalex.org/C111110010","wikidata":"https://www.wikidata.org/wiki/Q2627315","display_name":"Convex combination","level":4,"score":0.3506999909877777},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C49870271","wikidata":"https://www.wikidata.org/wiki/Q193657","display_name":"Convex set","level":4,"score":0.3264999985694885},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C50862404","wikidata":"https://www.wikidata.org/wiki/Q3075259","display_name":"Proper convex function","level":5,"score":0.30649998784065247},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.3061999976634979},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3034999966621399},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C145446738","wikidata":"https://www.wikidata.org/wiki/Q319913","display_name":"Convex function","level":3,"score":0.27230000495910645},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2653000056743622}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2601.20054","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2601.20054","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.20054","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2601.20054","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6827208995819092,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multi-vehicle":[0],"autonomous":[1],"driving":[2,37],"couples":[3],"strategic":[4],"interaction":[5,52],"with":[6,86],"hybrid":[7],"(discrete-continuous)":[8],"maneuver":[9,46],"planning":[10,23],"under":[11,147],"shared":[12],"safety":[13],"constraints.":[14],"We":[15,130],"introduce":[16],"IBR-GCS,":[17],"an":[18,113,133,155],"Iterative":[19],"Best":[20],"Response":[21],"(IBR)":[22],"approach":[24],"based":[25],"on":[26,78],"the":[27,79,83,149],"Graphs":[28],"of":[29,82],"Convex":[30],"Sets":[31],"(GCS)":[32],"framework":[33],"that":[34,117,167],"models":[35],"highway":[36],"as":[38],"a":[39,54,61,102],"generalized":[40,157],"noncooperative":[41],"game.":[42],"IBR-GCS":[43,168],"integrates":[44],"combinatorial":[45],"reasoning,":[47],"trajectory":[48],"planning,":[49],"and":[50,94,144,172],"game-theoretic":[51],"within":[53],"unified":[55],"framework.":[56],"The":[57],"key":[58],"novelty":[59],"is":[60],"vehicle-specific,":[62],"strategy-dependent":[63],"GCS":[64,106],"construction.":[65],"Specifically,":[66],"at":[67],"each":[68,71,108],"best-response":[69,109,135],"update,":[70],"vehicle":[72],"builds":[73],"its":[74],"own":[75],"graph":[76],"conditioned":[77],"current":[80],"strategies":[81],"other":[84],"vehicles,":[85],"vertices":[87],"representing":[88],"lane-specific,":[89],"time-varying,":[90],"convex,":[91],"collision-free":[92],"regions":[93],"edges":[95],"encoding":[96],"dynamically":[97],"feasible":[98],"transitions.":[99],"This":[100],"yields":[101],"shortest-path":[103],"problem":[104],"in":[105,137],"for":[107],"step,":[110],"which":[111,138,148],"admits":[112],"efficient":[114],"convex":[115,122],"relaxation":[116],"can":[118],"be":[119],"solved":[120],"using":[121],"optimization":[123],"tools":[124],"without":[125],"exhaustive":[126],"discrete":[127],"tree":[128],"search.":[129],"then":[131],"apply":[132],"iterative":[134],"scheme":[136],"vehicles":[139],"update":[140],"their":[141],"trajectories":[142,171],"sequentially":[143],"provide":[145],"conditions":[146],"resulting":[150],"inexact":[151],"updates":[152],"converge":[153],"to":[154],"approximate":[156],"Nash":[158],"equilibrium.":[159],"Simulation":[160],"results":[161],"across":[162],"multi-lane,":[163],"multi-vehicle":[164],"scenarios":[165],"demonstrate":[166],"produces":[169],"safe":[170],"strategically":[173],"consistent":[174],"interactive":[175],"behaviors.":[176]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-01-30T00:00:00"}
