{"ID":2831234,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.08688","arxiv_id":"2512.08688","title":"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.","short_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 con...","url_abs":"https://arxiv.org/abs/2512.08688","url_pdf":"https://arxiv.org/pdf/2512.08688v1","authors":"[\"Mark Pustilnik\",\"Francesco Borrelli\"]","published":"2025-12-09T15:08:02Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}