Stackelberg Leadership Filtering

This codebase implements the algorithms and examples from our paper on leadership inference.

Structure

• the src folder contains source code files that define the core filter
• the example folder contains runnable scripts for examples that were implemented
• the test folder contains unit tests
• the derivations folder contains pdfs describing the math behind the filter, SILQGames, and the solution to an LQ Stackelberg game

Setup

This repo is structured as a Julia package. To activate this package, type

julia> ]
(@v1.6) pkg> activate .
  Activating environment at `<path to repo>/Project.toml`
(StackelbergLeadershipFiltering) pkg>

Now exit package mode by hitting the [delete] key. You should see the regular Julia REPL prompt. Type:

julia> using Revise
julia> using StackelbergLeadershipFiltering

Utilities

Contains useful utilities. The Cost struct stores matrices which define a quadratic cost function for each player, and the Dynamics struct defines linear game dynamics (both are time-invariant). Functions to evaluate cost functions and unroll trajectories from initial conditions are provided as well.

To run tests locally and avoid polluting your commit history, in the REPL you can type:

julia> ]
(StackelbergLeadershipFiltering) pkg> test

Alternatively, you can run:

julia> include("test/runtests.jl")