# Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games

@article{Anthony2021BackTT, title={Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games}, author={Dennis R. Anthony and David Fridovich-Keil and Jaime F. Fisac}, journal={ArXiv}, year={2021}, volume={abs/2109.07673} }

We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target condition while avoiding a failure condition. Reach-avoid games are commonly used to express safety-critical optimal control problems found in mobile robot motion planning. While a wide variety of approaches exist for these motion planning problems, we focus on finding time-consistent solutions, in which planned future motion is still optimal despite…

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