Author

Zhi-Yuan Zhang

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Preprint Sep 2026

Online, Reachability-Aware, Sampling-Based Motion Planning

Sampling-Based Model-Predictive Control (MPC) algorithms are a flexible class of controllers used for navigation on a wide range of robotic systems. Historically, such approaches have lacked hard safety guarantees, a shortcoming which we remedy in this work by computing guaranteed reachable-set overapproximations onlin...

Brendan T. Gould, Zhi-Yuan Zhang, Panagiotis Tsiotras et al. · 0 citations

Preprint Sep 2026

Game-Theoretic Control with Constrained Potential Surgery

Constrained general-sum dynamic games are a popular formulation for highly interactive multi-agent planning problems. In recent years, Generalized Nash Equilibrium (GNE) solvers have achieved real-time performance for small dynamic games. However, solution speed still remains a bottleneck, and controlling even a small...

Zhi-Yuan Zhang, Panagiotis Tsiotras · 0 citations

Preprint Sep 2026

PDO-Split: A Real-Time Solver for Constrained Potential-Dominant Games

We present Potential-Dominant Operator Splitting (PDO-Split), a real-time generalized Nash equilibrium solver for constrained dynamic multi-agent problems with potential-dominant structure. PDO-Split targets the computational bottleneck in game-theoretic model predictive control, where repeatedly solving the equilibriu...

Zhi-Yuan Zhang, Yue Guan, Panagiotis Tsiotras · 0 citations