论文/arXiv 2610.22277·13 天前

通过来自法律指南的偏序博弈实现可审计且可部署的多智能体运动规划

针对法律约束下多智能体运动规划，提出基于法律指南的偏序博弈框架，并在海上多船相遇中验证。

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原文链接：Auditable and Deployable Multi-Agent Motion Planning via Posetal Games from Legal Guidelines（arXiv 2610.22277 · 发布日期：2026-10-15）

Auditable and Deployable Multi-Agent Motion Planning via Posetal Games from Legal Guidelines

针对法律约束下多智能体运动规划，提出基于法律指南的偏序博弈框架，并在海上多船相遇中验证。

核心要点

• 现实机器人需与其他智能体交互，并在实现自身目标时遵守可能冲突的法律约束。
• 方法从场景无关法律指南自动导出偏好与法律博弈，并允许主体和监管者细化偏好。
• 引入 belief play 和分布式迭代最佳响应协议，以较少信息协调智能体。
• 在七个最多四艘船的相遇中，规则违反被认证为层级强制或不可满足，并识别不遵从者。

验证范围与局限：验证范围限于海上导航中七个最多四艘船的相遇场景。

英文摘要 (Abstract)

When robots are deployed in the real-world, they must interact with other agents and accomplish their own goals while adhering to legal constraints. These potentially conflicting objectives are often only partially prioritized, making scalarized objectives or fully specified hierarchies unsuitable. We present a framework for multi-agent motion planning under legal requirements based on games with partially ordered preferences (posetal games). Scenario-independent legal guidelines order abstract legal concerns, from which we automatically derive agent preferences and a legal game for any concrete scenario. Agents may refine their legal preferences with private objectives, and regulators may refine the guideline as laws evolve. We prove that such customizations can only remove equilibria and thus preserve legality. To coordinate agents without explicitly communicating private preferences, we introduce belief play, which provably recovers the true equilibria from conservative local games, and a distributed iterative best-response protocol requiring less information. We apply the framework to maritime navigation, systematically lifting pairwise traffic rules to multi-vessel encounters. On seven encounters with up to four vessels, every rule violation of the committed equilibria is certified as forced by the legal hierarchy or unsatisfiable, and defectors are identified from public information in all tested cases. These results indicate that guideline-based posetal games offer an auditable route from partially specified laws to multi-agent motion planning.

作者：Florian Lercher, Karan Mahesh, Yujun Huang, Meshal Alharbi, Runyu Zhang, Hanna Krasowski, Michael R. Benjamin, Matthias Althoff, Gioele Zardini

来源

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1. arXiv 2610.22277：Auditable and Deployable Multi-Agent Motion Planning via Posetal Games from Legal Guidelines访问 2026-10-21