Desensitization addresses safe optimal planning under parametric uncertainties by providing sensitivity function-based risk measures. This paper expands upon the existing work on desensitization to address safe planning for a class of two-player differential games. In the proposed game, parametric uncertainties correspond to variations in a vector of model parameters about its nominal value. The two players in the proposed formulation are assumed to have information about the nominal value of the parameter vector. However, only one of the players is assumed to have complete knowledge of parametric variation, creating a form of information asymmetry in the proposed game. The lack of knowledge regarding the parametric variations is expected to result in state constraint violations for the player with an information disadvantage. In this regard, a desensitized feedback strategy that provides safe trajectories is proposed for the player with incomplete information. The proposed feedback strategy is evaluated in instances involving one pursuer and one evader with an uncertain dynamic obstacle, where the pursuer is assumed to know only the nominal value of the obstacle's speed. At the same time, the evader knows the obstacle's true speed, and also the fact that the pursuer possesses only the nominal value. Subsequently, deceptive strategies are proposed for the evader, who has an information advantage, and these strategies are assessed against the pursuer's desensitized strategy.

翻译：脱敏通过提供基于灵敏度函数的风险度量，解决了参数不确定性下的安全最优规划问题。本文在现有脱敏研究基础上，进一步解决了一类双人微分博弈中的安全规划问题。在所提出的博弈中，参数不确定性对应模型参数向量关于其标称值的变动。假设博弈双方均知晓参数向量的标称值，但仅有一方完全了解参数变动的全部信息，从而形成了博弈中的信息非对称性。信息劣势方因对参数变动的认知不足，可能导致状态约束违反。为此，针对信息不完全的玩家，本文提出了一种能提供安全轨迹的脱敏反馈策略。该反馈策略在存在不确定动态障碍物的单追捕者-单逃逸者场景中进行了评估，其中追捕者仅知晓障碍物速度的标称值，而逃逸者既了解障碍物的真实速度，也清楚追捕者仅掌握标称值这一事实。在此基础上，针对具有信息优势的逃逸者设计了欺骗策略，并评估了这些策略对抗追捕者脱敏策略的效果。