  We present a multi-agent decision-making framework for the emergent
coordination of autonomous agents whose intents are initially undecided.
Dynamic non-cooperative games have been used to encode multi-agent interaction,
but ambiguity arising from factors such as goal preference or the presence of
multiple equilibria may lead to coordination issues, ranging from the "freezing
robot" problem to unsafe behavior in safety-critical events. The recently
developed nonlinear opinion dynamics (NOD) provide guarantees for breaking
deadlocks. However, choosing the appropriate model parameters automatically in
general multi-agent settings remains a challenge. In this paper, we first
propose a novel and principled procedure for synthesizing NOD based on the
value functions of dynamic games conditioned on agents' intents. In particular,
we provide for the two-player two-option case precise stability conditions for
equilibria of the game-induced NOD based on the mismatch between agents'
opinions and their game values. We then propose an optimization-based
trajectory optimization algorithm that computes agents' policies guided by the
evolution of opinions. The efficacy of our method is illustrated with a
simulated toll station coordination example.
