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.

翻译：本文提出了一种动态博弈模型，用于在存在障碍物的共享工作空间中实现人机协作导航，其中人与机器人共同满足共享安全约束，同时执行共同任务。一个关键贡献是引入了共享约束的非归一化均衡结构。该结构允许两个智能体在执行安全要求（如避碰和玩家间间距保持）时投入不同程度的努力。我们将这种非归一化均衡嵌入到滚动时域最优控制框架中。