人机协作导航中，安全责任可不对等分配。
Non Normalized Shared-Constraint Dynamic Games for Human-Robot Collaboration with Asymmetric Responsibility
- 引入非归一化均衡结构，允许人机贡献不同安全努力
- 在避障与间距控制中实现动态责任分配
- 适合需灵活分工的协作场景，如工厂装配
本文提出一种动态博弈框架，用于共享工作空间中带障碍物的人机协同导航。人类与机器人需共同满足共享安全约束（如防碰撞、保持间距）并完成共同任务。核心创新在于引入非归一化均衡结构，使双方可根据能力差异对安全要求贡献不等的努力。该机制被嵌入滚动时域最优控制方案中，实现动态责任分配与实时协调。
原文摘要 · Abstract (English)
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.
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