Abstract
The famous game of two cars is a pursuit-evasion dynamic game. In the extended version presented here, a correct driver (evader) on a freeway detects a wrong-way driver (pursuer in a worst case scenario), i.e., a car driving on the wrong lanes of the road or in the wrong direction. The correct driver must try to avoid collision against all possible maneuvers of the wrong-way driver. Additionally, he must try to stay on the freeway lanes. Analytically, the game is not fully solvable. The state-space is cut by various singular manifolds, e.g., barriers, universal, and dispersal manifolds. Here, discretized Stackelberg games are solved numerically for many positions in the state-space. The resulting trajectories and their adherent information are used to synthesize optimal strategies with artificial neural networks. These networks learn the optimal turn rates and optimal velocity change rates. The networks are trained with the high-end neurosimulator FAUN (Fast Approximation with Universal Neural Networks). A grid computing implementation is used which allows significantly shorter computing times. This implementation runs on low-budget, idle PC clusters and moreover power saving allows to wake up and shut down computers automatically. Parallelization on cheap hardware is one of the key benefits of the presented approach as it leads to fast but nonetheless good results. The computed artificial neural networks approximate the Stackelberg strategies accurately. The approach presented here is applicable to many other complex dynamic games which are not (fully) solvable analytically.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
A. Abbas. Grid Computing: A Practical Guide to Technology and Applications. Charles River Media, Boston, 2004.
H. Attiya and J. L. Welch. Distributed Computing: Fundamentals, Simulations, and Advanced Topics. Wiley-Interscience, New York, 2004.
T. Ba³ar and G. J. Olsder. Dynamic Noncooperative Game Theory. Academic Press, London, 1995.
P. Borowko and W. Rzymowski. On the game of two cars. Journal of Optimization Theory and Applications, 44(3):381–396, November 1984.
M. H. Breitner. Robust optimal onboard reentry guidance of a space shuttle: Dynamic game approach and guidance synthesis via neural networks. Journal of Optimization Theory and Applications, 107:484–505, 2000.
M. H. Breitner. Nichtlineare, multivariate Approximation mit Perzeptrons und anderen Funktionen auf verschiedenen Hochleistungsrechnern (in German). Akademische Verlagsgesellschaft, Berlin, 2003.
M. H. Breitner. Usage of artificial neural networks for the numerical solution of dynamic games. In T. L. Vincent, editor, Proceedings of the Eleventh International Symposium on Dynamic Games and Applications, Tucson, Arizona, volume 1, pages 62–79. University of Arizona Press, 2004.
M. H. Breitner, P. Mehmert, and S. Schnitter. Coarse-and fine-grained parallel computation of optimal strategies and feedback controls with multilayered feedforward neural networks. In A. Nowak, editor, Proceedings of the Ninth International Symposium on Dynamic Games and Applications, Adelaide, Australia, 2000.
M. H. Breitner and H.-J. v. Mettenheim. Coarse-grained parallelization of the advanced neurosimulator FAUN 1.0 with PVM and the enhanced cornered rat game revisited. International Game Theory Review, 7:347–365, 2005.
J. Dongarra, I. Foster, G. C. Fox, W. Gropp, K. Kennedy, L. Tonczon, and A. Whithe. Sourcebook of Parallel Computing. Morgan Kaufmann, Amsterdam, 2003.
R. Fletcher. Practical Methods of Optimization. John Wiley & Sons, New York, 2000.
G. A. Geist, A. L. Beguelin, J. Dongarra, W. C. Jiang, R. J. Manchek, and V. S. Sunderam. PVM: Parallel Virtual Machine – A Users’ Guide and Tutorial for Networked Parallel Computing. MIT-Press, Cambridge, 1994.
W. M. Getz. Capturability in a two target ‘game of two cars’. Journal of Guidance, Control and Dynamics, 4(1):15–21, 1981.
W. M. Getz and M. Pachter. Two-target pursuit-evasion differential games in the plane. Journal of Optimization Theory and Applications, 34(3):383–403, July 1981.
I. Greenfeld. A differential game of surveillance evasion of two identical cars. Journal of Optimization Theory and Applications, 52(1):53–79, January 1987.
W. Gropp, E. Lusk, and A. Skjellum. Using MPI. MIT-Press, Cambridge, 1999.
X. Gui, Q. Wang, and D. Quian. A grid middleware for aggregative scientific computing libraries and parallel programming environments. InProceedings of the 6th Asia-Pacific Web Conference, Hangzhou, pp. 671–676. Springer, Heidelberg, 2004.
A. J. G. Hey, G. Fox, and F. Berman. Grid Computing. John Wiley & Sons, Chichester, 2003.
K. Hornik. Approximation capabilities of multilayer feedforward networks. Neural Networks, 4:251–257, 1991.
K. Hornik, M. Stinchcombe, and H. Whithe. Multi-layer feedforward networks are universal approximators. Neural Networks, 2:359–366, 1989.
K. Hornik, M. Stinchcombe, and H. Whithe. Universal approximation of an unknown mapping and its derivatives using multilayer feedforward networks. Neural Networks, 3:551–560, 1990.
C. Hughes and T. Hughes. Parallel and Distributed Programming Using C++. Addison-Wesley, Boston, 2003.
R. Isaacs. Differential Games – A Mathematical Theory with Applications to Warfare and Pursuit, Control and Optimization. John Wiley & Sons, New York, 1965 – reprint.
J. Joshy and C. Fellenstein. Grid Computing. Prentice Hall PTR, London, 2003.
F. Köller and M. H. Breitner. Efficient synthesis of strategies with the advanced neurosimulator FAUN 1.0. In M. H. Breitner, editor, Proceedings of the Fourth International ISDG Workshop, Goslar, 2003.
R. Lachner. Echtzeitsynthese optimaler Strategien für Differentialspiele schneller Dynamik mit Anwendungen bei der Kollisionsvermeidung (in German). PhD thesis, Technische Universität Clausthal, Clausthal-Zellerfeld, 1997.
R. Lachner, M. H. Breitner, and H. J. Pesch. Real-time collision avoidance: Differential game, numerical solution, and synthesis of strategies. In J. A. Filar, V. Gaitsgory, and K. Mizukami, editors, Advances in Dynamic Games and Applications. Birkhäuser, Boston, 2000.
J. P. Marec and N. V. Nhan. Two-dimensional pursuit-evasion game with penalty on turning rates. Journal of Optimization Theory and Applications, 23(2):305–345, October 1977.
A. W. Merz. The Homicidal Chauffeur – A Differential Game. PhD thesis, Department of Aeronautics and Astronautics, Stanford University, Stanford, 1971.
A. W. Merz. The game of two identical cars. Journal of Optimization Theory and Applications, 9(5):324–343, May 1972.
H.-J. v. Mettenheim and M. H. Breitner. Neural network forecasting with high performance computers. In E. P. Hofer and E. Reithmeier, editors, Proceedings of the Thirteenth International Workshop on Dynamics and Control, pp. 33–40. Shaker, Aachen, 2005.
H.-J. v. Mettenheim and M. H. Breitner. Distributed neurosimulation. In H.-D. Haasis, H. Kopfer, and J. Schönberger, editors, Operations Research Proceedings. Springer, Heidelberg, 2006.
A. Meyer, M. H. Breitner, and M. Kriesell. A pictured memorandum on synthesis phenomena occurring in the homicidal chauffeur game. In G. Martin-Herran and G. Zaccour, editors, Proceedings of the Fifth International ISDG Workshop, Segovia, pp. 17–32, 2005.
T. Miloh. The game of two elliptical ships. Optimal Control Applications & Methods, 4, 1983.
S. Mukherjee, J. Mustafi, and A. Chaudhuri. Grid computing: The future of distributed computing for high performance scientific and business applications. In Distributed Computing. Mobile and Wireless Computing. 4th International Workshop, IWDC. Springer, Heidelberg, 2002.
B. Müller, J. Reinhardt, and M. T. Strickland. Neural Networks. Springer, Berlin, 1995.
M. Pachter and W. M. Getz. The geometry of the barrier in the game of two cars. Optimal Control Applications and Methods, 1:103–118, 1980.
J. Shinar and A. Davidovitz. New results in the game of two identical cars. In Analysis and Optimization of Systems, volume Volume 83/1986, pp. 759–780, 1986.
J. Shinar and R. Tabak. New results in optimal missile avoidance analysis. Journal of Guidance, Control & Dynamics, 17, 1994.
W. R. Stevens, B. Fenner, and A. M. Rudoff. UNIX Network Programming – The Sockets Networking API, volume 1. Addison-Wesley, Boston, 2004.
W. R. Stevens and S. A. Rago. Advanced Programming in the UNIX Environment. Addison-Wesley, Upper Saddle River, NJ, 2005.
A. E. Utemov. Numerical control optimization methods in one pursuit-evasion problem. Journal of Computer and Systems Sciences International, 45(3):395–412, May 2006.
V. R. Vemuri. Artificial Neural Networks. IEEE Computer Society Press, Los Angeles, 1994.
T. L. Vincent, E. M. Cliff, W. J. Grantham, and W. Y. Peng. Some aspects of collision avoidance. AIAA Journal, 12, 1974.
H. Whithe, A. R. Gallant, K. Hornik, M. Stinchcombe, and J. Wooldridge. Artificial Neural Networks – Approximation and Learning Theory. Blackwell, Oxford, 1992.
Y. Yavin and R. de Villiers. Game of two cars: Case of variable speed. Journal of Optimization Theory and Applications, 60(2):327–339, February 1989.
Y. Yavin and R. de Villiers. Proportional navigation and the game of two cars. Journal of Optimization Theory and Applications, 62(3):351–369, September 1989.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Birkhäuser Boston
About this chapter
Cite this chapter
von Mettenheim, HJ., Breitner, M.H. (2009). Numerical Solution of the Game of Two Cars with a Neurosimulator and Grid Computing. In: Pourtallier, O., Gaitsgory, V., Bernhard, P. (eds) Advances in Dynamic Games and Their Applications. Annals of the International Society of Dynamic Games, vol 10. Birkhäuser Boston. https://doi.org/10.1007/978-0-8176-4834-3_12
Download citation
DOI: https://doi.org/10.1007/978-0-8176-4834-3_12
Published:
Publisher Name: Birkhäuser Boston
Print ISBN: 978-0-8176-4833-6
Online ISBN: 978-0-8176-4834-3
eBook Packages: Mathematics and StatisticsMathematics and Statistics (R0)