Non Normalized Shared-Constraint Dynamic Games for Human-Robot Collaboration with Asymmetric Responsibility

Dynamic games is emerging as a prominent and very natural tool that can overcome the shortages of other techniques. If the players are two humans weighted equally, the solution will have different characteristics relative to a human-robot interaction where the robot abilities and effort could be very different. In many scenarios, humans move naturally with minimal attention to constraints, while robots must take on most of the responsibility for enforcing safety boundaries such as collision avoidance or required proximity limits. Classical control approaches typically enforce constraints centrally or assume symmetric responsibility, which does not reflect the inherent asymmetry of human-robot interaction (HRI). In this paper, we propose a dynamic game formulation in which a human and a robot jointly satisfy safety constraints while pursuing a common task.