Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games

There is no guarantee of convergence, but if IBR converges for a particular problem, it does converge to the Differential dynamic games (DDG) have a wide range of Nash equilibrium [8]. IBR, however, suffers in terms of applications in robotics. Many complex problems in multiagent convergence speed since agent interaction has to manifest motion planning in particular, such as drone racing through mutual constraints in multiple iterations.