DR-DAQP: A Hybrid Operator Splitting and Active-Set Solver for Affine Variational Inequalities

arXiv:2604.02531 · eess.SY, cs.MS, cs.SY · Submitted 2026-04-02 · Read on arXiv

eess.SY, cs.MS, cs.SY

Submitted: 2026-04-02

Updated: 2026-09-18

Code: https://github.com/darnstrom/daqp

Project page: https://darnstrom.github.io/daqp/start/advanced/avi

Terminology

• Nash Equilibrium — 6× in this paper · explained in 2 episodes
• Benchmark — 5× in this paper · explained in 2 episodes
• Multi-Agent System — 4× in this paper · explained in 5 episodes
• Regularization — 3× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Computational overhead — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• A Douglas-Rachford Splitting Method for Solving Monotone Variational Inequalities in Linear-quadratic Dynamic Games
• Newton Methods in Generalized Nash Equilibrium Problems with Applications to Game-Theoretic Model Predictive Control
• The explicit game-theoretic linear quadratic regulator for constrained multi-agent systems
• NashOpt - A Python Library for Computing Generalized Nash Equilibria
• Clarabel: An interior-point solver for conic programs with quadratic objectives

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