  Structured game representations have recently attracted interest as models
for multi-agent artificial intelligence scenarios, with rational behavior most
commonly characterized by Nash equilibria. This paper presents efficient, exact
algorithms for computing Nash equilibria in structured game representations,
including both graphical games and multi-agent influence diagrams (MAIDs). The
algorithms are derived from a continuation method for normal-form and
extensive-form games due to Govindan and Wilson; they follow a trajectory
through a space of perturbed games and their equilibria, exploiting game
structure through fast computation of the Jacobian of the payoff function. They
are theoretically guaranteed to find at least one equilibrium of the game, and
may find more. Our approach provides the first efficient algorithm for
computing exact equilibria in graphical games with arbitrary topology, and the
first algorithm to exploit fine-grained structural properties of MAIDs.
Experimental results are presented demonstrating the effectiveness of the
algorithms and comparing them to predecessors. The running time of the
graphical game algorithm is similar to, and often better than, the running time
of previous approximate algorithms. The algorithm for MAIDs can effectively
solve games that are much larger than those solvable by previous methods.
