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Penalty-based strategies, such as congestion pricing, have been employed to improve traffic network efficiency, but they face criticism for their negative impact on users and equity concerns. Collaborative routing, which allows users to negotiate route choices, offers a solution that considers individual heterogeneity. Personalized incentives can encourage such collaboration and are more politically acceptable than penalties. This study proposes a collaborative routing strategy that uses personalized incentives to guide users towards desired traffic states while promoting multidimensional equity. Three equity dimensions are considered: accessibility equity (equal access to jobs, services, and education), inclusion equity (route suggestions and incentives that do not favor specific users), and utility equity (envy-free solutions where no user feels others have more valuable incentives). The strategy prioritizes equitable access to societal services and activities, ensuring accessibility equity in routing solutions. Inclusion equity is maintained through non-negative incentives that consider user heterogeneity without excluding anyone. An envy-free compensation mechanism achieves utility equity by eliminating envy over incentive-route bundles. A constrained traffic assignment (CTA) formulation and consensus optimization variant are then devised to break down the centralized problem into smaller, manageable parts and a decentralized algorithm is developed for scalability in large transportation networks and user populations. Numerical studies investigate the model's enhancement of equity dimensions and the impact of hyperparameters on system objective tradeoffs and demonstrate the algorithm convergence.
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This content will become publicly available on May 23, 2026
Mitigating Side Effects in Multi-Agent Systems Using Blame Assignment
When independently trained or designed robots are deployed in a shared environment, their combined actions can lead to unintended negative side effects (NSEs). To ensure safe and efficient operation, robots must optimize task performance while minimizing the penalties associated with NSEs, balancing individual objectives with collective impact. We model the problem of mitigating NSEs in a cooperative multi-agent system as a bi-objective lexicographic decentralized Markov decision process. We assume independence of transitions and rewards with respect to the robots' tasks, but the joint NSE penalty creates a form of dependence in this setting. To improve scalability, the joint NSE penalty is decomposed into individual penalties for each robot using credit assignment, which facilitates decentralized policy computation. We empirically demonstrate, using mobile robots and in simulation, the effectiveness and scalability of our approach in mitigating NSEs. Code: \url{https://tinyurl.com/RECON-NSE-Mitigation}
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- Award ID(s):
- 2416459
- PAR ID:
- 10599150
- Publisher / Repository:
- IEEE ICRA 2025
- Date Published:
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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