SGTP: Sampling-based Game-Theoretic Planning for Real-Time Multi-Vehicle Autonomous Racing
Authors: name: Zhouheng Li, name: Fangguo Zhao, name: Mattia Piccinini, name: Baha Zarrouki, name: Yuan Gao, name: Zitong Shan, name: Johannes Betz, name: Chen Lv, name: Lei Xie
Organization: TUM - Professorship of Autonomous Vehicle Systems

Autonomous multi-vehicle racing requires real-time planning of diverse competitive behaviors in intense interactions. Existing planners often struggle to balance strategic diversity and computational efficiency. To address this challenge, we propose Sampling-based Game-Theoretic Planning (SGTP), a real-time framework that combines game-theoretic reasoning with GPU-accelerated sampling of control sequences and dynamics rollouts. Sampled trajectories are ranked using a game-aware cost to capture competitive interactions and generate diverse racing behaviors. Our planner then performs feasibility selection by explicitly enforcing track-boundary and dynamic collision-avoidance constraints, ensuring safe and reliable transitions between racing strategies. Extensive simulations on challenging tracks show that SGTP achieves a 95.24% win rate and a 99.35% task-completion ratio in highly interactive races, with a mean computational time of 0.095 s over multiple iterative solving steps. We also demonstrate the successful application of SGTP in large-scale scenarios with up to 10 agents. We release our code and provide an open-source benchmark of multi-agent autonomous racing algorithms to facilitate future research. Project page: https://sgtp-racing.github.io/.