Two important metrics for measuring the quality of routing paths are the maximum edge congestion $C$ and maximum path length $D$. Here, we study bicriteria in routing games where each player $i$ selfishly selects a path that simultaneously minimizes its maximum edge congestion $C_i$ and path length $D_i$. We study the stability and price of anarchy of two bicriteria games:
- {\em Max games}, where the social cost is $\max(C,D)$ and the player cost is $\max(C_i, D_i)$. We prove that max games are stable and convergent under best-response dynamics, and that the price of anarchy is bounded above by the maximum path length in the players' strategy sets. We also show that this bound is tight in worst-case scenarios.
- {\em Sum games}, where the social cost is $C+D$ and the player cost is $C_i+D_i$. For sum games, we first show the negative result that there are game instances that have no Nash-equilibria. Therefore, we examine an approximate game called the {\em sum-bucket game} that is always convergent (and therefore stable). We show that the price of anarchy in sum-bucket games is bounded above by $C^* \cdot D^* / (C^* + D^*)$ (with a poly-log factor), where $C^*$ and $D^*$ are the optimal coordinated congestion and path length. Thus, the sum-bucket game has typically superior price of anarchy bounds than the max game. In fact, when either $C^*$ or $D^*$ is small (e.g. constant) the social cost of the Nash-equilibria is very close to the coordinated optimal $C^* + D^*$ (within a poly-log factor). We also show that the price of anarchy bound is tight for cases where both $C^*$ and $D^*$ are large.
The analysis of network routing games typically assumes, right at the onset, precise and detailed information about the latency functions. Such information may, however, be unavailable or difficult to obtain. Moreover, one is often primarily interested in enforcing a desired target flow as the equilibrium by suitably influencing player behavior in the routing game. We ask whether one can achieve target flows as equilibria without knowing the underlying latency functions. Our main result gives a crisp positive answer to this question. We show that, under fairly general settings, one can efficie…
We study the optimization problem faced by a perfectly informed principal in a Bayesian game, who reveals information to the players about the state of nature to obtain a desirable equilibrium. This signaling problem is the natural design question motivated by uncertainty in games and has attracted much recent attention. We present new hardness results for signaling problems in (a) Bayesian two-player zero-sum games, and (b) Bayesian network routing games. For Bayesian zero-sum games, when the principal seeks to maximize the equilibrium utility of a player, we show that it is NP-hard to obtain…
We investigate a routing game that allows for the creation of coalitions, within the framework of cooperative game theory. Specifically, we describe the cost of each coalition as its maximin value. This represents the performance that the coalition can guarantee itself, under any (including worst) conditions. We then investigate fundamental solution concepts of the considered cooperative game, namely the core and a variant of the min-max fair nucleolus. We consider two types of routing games based on the agents' Performance Objectives, namely bottleneck routing games and additive routing games…
We consider the following question: in a nonatomic routing game, can the tolls that induce the minimum latency flow be computed without knowing the latency functions? Since the latency functions are unknown, we assume we are given an oracle that has access to the underlying routing game. A query to the oracle consists of tolls on edges, and the response is the resulting equilibrium flow. We show that in this model, it is impossible to obtain optimal tolls. However, if we augment the oracle so that it returns the total latency of the equilibrium flow induced by the tolls in addition to the flow…
We present polynomial-time algorithms as well as hardness results for equilibrium computation in atomic splittable routing games, for the case of general convex cost functions. These games model traffic in freight transportation, market oligopolies, data networks, and various other applications. An atomic splittable routing game is played on a network where the edges have traffic-dependent cost functions, and player strategies correspond to flows in the network. A player can thus split it's traffic arbitrarily among different paths. While many properties of equilibria in these games have been …
We study bottleneck routing games where the social cost is determined by the worst congestion on any edge in the network. Bottleneck games have been studied in the literature by having the player's utility costs to be determined by the worst congested edge in their paths. However, the Nash equilibria of such games are inefficient since the price of anarchy can be very high with respect to the parameters of the game. In order to obtain smaller price of anarchy we explore {\em exponential bottleneck games} where the utility costs of the players are exponential functions on the congestion of the …
Routing games are amongst the most well studied domains of game theory. How relevant are these pen-and-paper calculations to understanding the reality of everyday traffic routing? We focus on a semantically rich dataset that captures detailed information about the daily behavior of thousands of Singaporean commuters and examine the following basic questions: (i) Does the traffic equilibrate? (ii) Is the system behavior consistent with latency minimizing agents? (iii) Is the resulting system efficient? In order to capture the efficiency of the traffic network in a way that agrees with our every…
We consider multi-player games played on graphs, in which the players aim at fulfilling their own (not necessarily antagonistic) objectives. In the spirit of evolutionary game theory, we suppose that the players have the right to repeatedly update their respective strategies (for instance, to improve the outcome w.r.t. the current strategy profile). This generates a dynamics in the game which may eventually stabilise to an equilibrium. The objective of the present paper is twofold. First, we aim at drawing a general framework to reason about the termination of such dynamics. In particular, we …
We study {\em bottleneck routing games} where the social cost is determined by the worst congestion on any edge in the network. In the literature, bottleneck games assume player utility costs determined by the worst congested edge in their paths. However, the Nash equilibria of such games are inefficient since the price of anarchy can be very high and proportional to the size of the network. In order to obtain smaller price of anarchy we introduce {\em exponential bottleneck games} where the utility costs of the players are exponential functions of their congestions. We find that exponential b…
In this paper, we introduce a distributed dynamic routing algorithm for secondary users (SUs) to minimize their interference with the primary users (PUs) in multi-hop cognitive radio (CR) networks. We use the medial axis with a relaxation factor as a reference path which is contingent on the states of the PUs. Along the axis, we construct a hierarchical structure for multiple sources to reach cognitive pilot channel (CPC) base stations. We use a temporal and spatial dynamic non-cooperative game to model the interactions among SUs as well as their influences from PUs in the multi-hop structure …
We consider an instance of a nonatomic routing game. We assume that the network is parallel, that is, constituted of only two nodes, an origin and a destination. We consider infinitesimal players that have a symmetric network cost, but are heterogeneous through their set of feasible strategies and their individual utilities. We show that if an atomic routing game instance is correctly defined to approximate the nonatomic instance, then an atomic Nash Equilibrium will approximate the nonatomic Wardrop Equilibrium. We give explicit bounds on the distance between the equilibria according to the p…
The asymptotic behaviour of deterministic logit dynamics in heterogeneous routing games is analyzed. It is proved that in directed multigraphs with parallel routes, and in series composition of such multigraphs, the dynamics admits a globally asymptotically stable fixed point. Moreover, the unique fixed point of the dynamics approaches the set of Wardrop equilibria, as the noise vanishes. The result relies on the fact that the dynamics of aggregate flows is monotone, and its Jacobian is strictly diagonally dominant by columns.
We study routing games where every agent sequentially decides her next edge when she obtains the green light at each vertex. Because every edge only has capacity to let out one agent per round, an edge acts as a FIFO waiting queue that causes congestion on agents who enter. Given $n$ agents over $|V|$ vertices, we show that for one agent, approximating a winning strategy within $n^{1-\varepsilon}$ of the optimum for any $\varepsilon>0$, or within any polynomial of $|V|$, are PSPACE-hard. Under perfect information, computing a subgame perfect equilibrium (SPE) is PSPACE-hard and in FPSPACE. Und…
We consider a discrete-time nonatomic routing game with variable demand and uncertain costs. Given a routing network with single origin and destination, the cost function of each edge depends on some uncertain persistent state parameter. At every period, a random traffic demand is routed through the network according to a Wardrop equilibrium. The realized costs are publicly observed and the public Bayesian belief about the state parameter is updated. We say that there is strong learning when beliefs converge to the truth and weak learning when the equilibrium flow converges to the complete-inf…
In routing games, the network performance at equilibrium can be significantly improved if we remove some edges from the network. This counterintuitive fact, widely known as Braess's paradox, gives rise to the (selfish) network design problem, where we seek to recognize routing games suffering from the paradox, and to improve the equilibrium performance by edge removal. In this work, we investigate the computational complexity and the approximability of the network design problem for non-atomic bottleneck routing games, where the individual cost of each player is the bottleneck cost of her path…
In this article, we study the repeated routing game problem on a parallel network with affine latency functions on each edge. We cast the game setup in a LQR control theoretic framework, leveraging the Rosenthal potential formulation. We use control techniques to analyze the convergence of the game dynamics with specific cases that lend themselves to optimal control. We design proper dynamics parameters so that the conservation of flow is guaranteed. We provide an algorithmic solution for the general optimal control setup using a multiparametric quadratic programming approach (explicit MPC). F…
Routing games are used to to understand the impact of individual users' decisions on network efficiency. Most prior work on routing games uses a simplified model of network flow where all flow exists simultaneously, and users care about either their maximum delay or their total delay. Both of these measures are surrogates for measuring how long it takes to get all of a user's traffic through the network. We attempt a more direct study of how competition affects network efficiency by examining routing games in a flow over time model. We give an efficiently computable Stackelberg strategy for th…
We study a routing game in which one of the players unilaterally acts altruistically by taking into consideration the latency cost of other players as well as his own. By not playing selfishly, a player can not only improve the other players' equilibrium utility but also improve his own equilibrium utility. To quantify the effect, we define a metric called the Value of Unilateral Altruism (VoU) to be the ratio of the equilibrium utility of the altruistic user to the equilibrium utility he would have received in Nash equilibrium if he were selfish. We show by example that the VoU, in a game wit…
School of Mathematics and Statistics, Northwestern Polytechnical University（西北工业大学数学与统计学院）；Department of Applied Mathematics, University of Twente（特温特大学应用数学系）
We study atomic routing games where every agent travels both along its decided edges and through time. The agents arriving on an edge are first lined up in a \emph{first-in-first-out} queue and may wait: an edge is associated with a capacity, which defines how many agents-per-time-step can pop from the queue's head and enter the edge, to transit for a fixed delay. We show that the best-response optimization problem is not approximable, and that deciding the existence of a Nash equilibrium is complete for the second level of the polynomial hierarchy. Then, we drop the rationality assumption, in…
A central question in routing games has been to establish conditions for the uniqueness of the equilibrium, either in terms of network topology or in terms of costs. This question is well understood in two classes of routing games. The first is the non-atomic routing introduced by Wardrop on 1952 in the context of road traffic in which each player (car) is infinitesimally small; a single car has a negligible impact on the congestion. Each car wishes to minimize its expected delay. Under arbitrary topology, such games are known to have a convex potential and thus a unique equilibrium. The secon…
In this paper we present a new competitive packet routing model with edge priorities. We consider players that route selfishly through a network over time and try to reach their destinations as fast as possible. If the number of players who want to enter an edge at the same time exceeds the inflow capacity of this edge, edge priorities with respect to the preceding edge solve these conflicts. Our edge priorities are well-motivated by applications in traffic. For this class of games, we show the existence of equilibrium solutions for single-source-single-sink games and we analyze structural pro…
We study the following repeated non-atomic routing game. In every round, nature chooses a state in an i.i.d. manner according to a publicly known distribution, which influences link latency functions. The system planner makes private route recommendations to participating agents, which constitute a fixed fraction, according to a publicly known signaling strategy. The participating agents choose between obeying or not obeying the recommendation according to cumulative regret of the participating agent population in the previous round. The non-participating agents choose route according to myopi…
Max-min fairness (MMF) is a widely known approach to a fair allocation of bandwidth to each of the users in a network. This allocation can be computed by uniformly raising the bandwidths of all users without violating capacity constraints. We consider an extension of these allocations by raising the bandwidth with arbitrary and not necessarily uniform time-depending velocities (allocation rates). These allocations are used in a game-theoretic context for routing choices, which we formalize in progressive filling games (PFGs). We present a variety of results for equilibria in PFGs. We show that…
The price of anarchy has become a standard measure of the efficiency of equilibria in games. Most of the literature in this area has focused on establishing worst-case bounds for specific classes of games, such as routing games or more general congestion games. Recently, the price of anarchy in routing games has been studied as a function of the traffic demand, providing asymptotic results in light and heavy traffic. The aim of this paper is to study the price of anarchy in nonatomic routing games in the intermediate region of the demand. To achieve this goal, we begin by establishing some smo…
Internet and graphs are very much related. The graphical structure of internet has been studied extensively to provide efficient solutions to routing and other problems. But most of these studies assume a central authority which controls and manages the internet. In the recent years game theoretic models have been proposed which do not require a central authority and the users are assumed to be routing their flows selfishly. The existence of Nash Equilibria, congestion and the amount of inefficiency caused by this selfish routing is a major concern in this field. A type of paradox in the selfi…
We study a routing game in an environment with multiple heterogeneous information systems and an uncertain state that affects edge costs of a congested network. Each information system sends a noisy signal about the state to its subscribed traveler population. Travelers make route choices based on their private beliefs about the state and other populations' signals. The question then arises, "How does the presence of asymmetric and incomplete information affect the travelers' equilibrium route choices and costs?'' We develop a systematic approach to characterize the equilibrium structure, and …
We introduce a unifying model to study the impact of worst-case latency deviations in non-atomic selfish routing games. In our model, latencies are subject to (bounded) deviations which are taken into account by the players. The quality deterioration caused by such deviations is assessed by the $\textit{Deviation Ratio}$, i.e., the worst-case ratio of the cost of a Nash flow with respect to deviated latencies and the cost of a Nash flow with respect to the unaltered latencies. This notion is inspired by the $\textit{Price of Risk Aversion}$ recently studied by Nikolova and Stier-Moses. Here we…
Selfish behaviors are common in self-organized Mobile Ad hoc Networks (MANETs) where nodes belong to different authorities. Since cooperation of nodes is essential for routing protocols, various methods have been proposed to stimulate cooperation among selfish nodes. In order to provide sufficient incentives, most of these methods pay nodes a premium over their actual costs of participation. However, they lead to considerably large overpayments. Moreover, existing methods ignore mobility of nodes, for simplicity. However, owing to the mobile nature of MANETs, this assumption seems unrealistic.…
A Necessary and Sufficient Condition for the Existence of Potential Functions for Heterogeneous Routing Games
ACCESS Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology（KTH皇家理工学院电气工程学院）；department of Electrical Engineering and Computer Sciences, University of California at Berkeley（加州大学伯克利分校电气工程与计算机科学系）；department of Civil and Environmental Engineering, University of California at Berkeley（加州大学伯克利分校土木与环境工程系）
We consider a two-player zero-sum network routing game in which a router wants to maximize the amount of legitimate traffic that flows from a given source node to a destination node and an attacker wants to block as much legitimate traffic as possible by flooding the network with malicious traffic. We address scenarios with asymmetric information, in which the router must reveal its policy before the attacker decides how to distribute the malicious traffic among the network links, which is naturally modeled by the notion of Stackelberg equilibria. The paper focuses on parallel networks, and in…
This paper introduces a "green" routing game between multiple logistic operators (players), each owning a mixed fleet of internal combustion engine vehicle (ICEV) and electric vehicle (EV) trucks. Each player faces the cost of delayed delivery (due to charging requirements of EVs) and a pollution cost levied on the ICEVs. This cost structure models: 1) limited battery capacity of EVs and their charging requirement; 2) shared nature of charging facilities; 3) pollution cost levied by regulatory agency on the use of ICEVs. We characterize Nash equilibria of this game and derive a condition for i…
We study learning dynamics induced by myopic travelers who repeatedly play a routing game on a transportation network with an unknown state. The state impacts cost functions of one or more edges of the network. In each stage, travelers choose their routes according to Wardrop equilibrium based on public belief of the state. This belief is broadcast by an information system that observes the edge loads and realized costs on the used edges, and performs a Bayesian update to the prior stage's belief. We show that the sequence of public beliefs and edge load vectors generated by the repeated play …
Routing games are amongst the most studied classes of games. Their two most well-known properties are that learning dynamics converge to equilibria and that all equilibria are approximately optimal. In this work, we perform a stress test for these classic results by studying the ubiquitous dynamics, Multiplicative Weights Update, in different classes of congestion games, uncovering intricate non-equilibrium phenomena. As the system demand increases, the learning dynamics go through period-doubling bifurcations, leading to instabilities, chaos and large inefficiencies even in the simplest case …
Ride-sharing services are gaining popularity and are crucial for a sustainable environment. A special case in which such services are most applicable, is the last mile variant. In this variant it is assumed that all the passengers are positioned at the same origin location (e.g. an airport), and each have a different destination. One of the major issues in a shared ride is fairly splitting of the ride cost among the passengers. In this paper we use the Shapley value, which is one of the most significant solution concepts in cooperative game theory, for fairly splitting the cost of a shared rid…
In congestion games, users make myopic routing decisions to jam each other, and the social planner with the full information designs mechanisms on information or payment side to regulate. However, it is difficult to obtain time-varying traffic conditions, and emerging crowdsourcing platforms (e.g., Waze and Google Maps) provide a convenient way for mobile users travelling on the paths to learn and share the traffic conditions over time. When congestion games meet mobile crowdsourcing, it is critical to incentive selfish users to change their myopic routing policy and reach the best exploitatio…
Device-to-Device (D2D) communication is expected to be a key feature supported by 5G networks, especially due to the proliferation of Mobile Edge Computing (MEC), which has a prominent role in reducing network stress by shifting computational tasks from the Internet to the mobile edge. Apart from being part of MEC, D2D can extend cellular coverage allowing users to communicate directly when telecommunication infrastructure is highly congested or absent. This significant departure from the typical cellular paradigm imposes the need for decentralised network routing protocols. Moreover, enhanced…
This paper considers Bayesian persuasion for routing games where information about the uncertain state of the network is provided by a traffic information system (TIS) using public signals. In this setup, the TIS commits to a signalling scheme and participants form a posterior belief about the state of the network based on prior beliefs and the received signal. They subsequently select routes minimizing their individual expected travel time under their posterior beliefs, giving rise to a Wardrop equilibrium. We investigate how the TIS can infer the prior beliefs held by the participants by des…
Cracow University of Economics（克拉科夫经济大学）；Chulalongkorn University（朱拉隆功大学）；Indiana University-Purdue University Indianapolis（印第安纳大学-普渡大学印第安纳波利斯分校）；Singapore University of Technology and Design（新加坡科技设计大学）
We study the emergence of chaotic behavior of Follow-the-Regularized Leader (FoReL) dynamics in games. We focus on the effects of increasing the population size or the scale of costs in congestion games, and generalize recent results on unstable, chaotic behaviors in the Multiplicative Weights Update dynamics to a much larger class of FoReL dynamics. We establish that, even in simple linear non-atomic congestion games with two parallel links and any fixed learning rate, unless the game is fully symmetric, increasing the population size or the scale of costs causes learning dynamics to become u…
This article studies the value of information in route choice decisions when a fraction of players have access to high accuracy information about traffic incidents relative to others. To model such environments, we introduce a Bayesian congestion game, in which players have private information about incidents, and each player chooses her route on a network of parallel links. The links are prone to incidents that occur with an ex-ante known probability. The demand is comprised of two player populations: one with access to high accuracy incident information and another with low accuracy informat…
Formal analyses of incentives for compliance with network protocols often appeal to game-theoretic models and concepts. Applications of game-theoretic analysis to network security have generally been limited to highly stylized models, where simplified environments enable tractable study of key strategic variables. We propose a simulation-based approach to game-theoretic analysis of protocol compliance, for scenarios with large populations of agents and large policy spaces. We define a general procedure for systematically exploring a structured policy space, directed expressly to resolve the qu…
We consider in this paper competition of content creators in routing their content through various media. The routing decisions may correspond to the selection of a social network (e.g. twitter versus facebook or linkedin) or of a group within a given social network. The utility for a player to send its content to some medium is given as the difference between the dissemination utility at this medium and some transmission cost. We model this game as a congestion game and compute the pure potential of the game. In contrast to the continuous case, we show that there may be various equilibria. We…
A critical aspect in strategic modeling of transportation systems is user heterogeneity. In many real-world scenarios, e.g., when tolls are charged and drivers have different trade-offs between time and money, or when they get informed about current congestion by different routing apps, modeling users as rational decision makers with homogeneous utility functions becomes too restrictive. While global asymptotic stability of user equilibria in homogeneous routing games is known to hold for a broad class of evolutionary dynamics, the stability analysis of user equilibria in heterogeneous routing…
Traffic congestion games abstract away from the costs of junctions in transport networks, yet, in urban environments, these often impact journey times significantly. In this paper we equip congestion games with traffic lights, modelled as junction-based waiting cycles, therefore enabling more realistic route planning strategies. Using the SUMO simulator, we show that our modelling choices coincide with realistic routing behaviours, in particular, that drivers' decisions about route choices are based on the proportion of red light time for their direction of travel. Drawing upon the experimenta…
The congestion pricing is an efficient allocation approach to mediate demand and supply of network resources. Different from the previous pricing using Affine Marginal Cost (AMC), we focus on studying the game between network coding and routing flows sharing a single link when users are price anticipating based on an Average Cost Sharing (ACS) pricing mechanism. We characterize the worst-case efficiency bounds of the game compared with the optimal, i.e., the price-of anarchy (POA), which can be low bound 50% with routing only. When both network coding and routing are applied, the POA can be as…
