We study strong equilibria in symmetric capacitated cost-sharing games. In these games, a graph with designated source @math and sink @math is given, and each edge is associated with some cost. Each agent chooses strategically an @math - @math path, knowing that the cost of each edge is shared equally between all agents using it. Two variants of cost-sharing games have been previously studied: (i) games where coalitions can form, and (ii) games where edges are associated with capacities; both variants are inspired by real-life scenarios. In this work we combine these variants and analyze strong equilibria (profiles where no coalition can deviate) in capacitated games. This combination gives rise to new phenomena that do not occur in the previous variants. Our contribution is two-fold. First, we provide a topological characterization of networks that always admit a strong equilibrium. Second, we establish tight bounds on the efficiency loss that may be incurred due to strategic behavior, as quantified by the strong price of anarchy (and stability) measures. Interestingly, our results are qualitatively different than those obtained in the analysis of each variant alone, and the combination of coalitions and capacities entails the introduction of more refined topology classes than previously studied.
Cost-sharing connection games were introduced by @cite_7 , and have been widely studied since. The fair cost-sharing mechanism has been studied in @cite_6 . A key property of fair cost-sharing games is the fact that they admit an exact potential function and thus possess a pure strategy NE @cite_15 @cite_2 . Settings with coalitions in congestion games have been studied by Holzman and Law-Yone @cite_8 @cite_0 , and @cite_11 studied the existence and quality of SE in cost-sharing games. The characterization of network topologies that admit SE in congestion games with monotone cost functions has been later established in @cite_13 . The PoA measure has been introduced by Koutsoupias and Papadimitriou @cite_5 to study the quality of NE in games. The analogue of the PoA with respect to SE (called the strong PoA) was introduced and analyzed by @cite_9 . The SPoA in cost-sharing games was studied in @cite_1 @cite_11 , and was also studied with respect to various additional settings; see, e.g., @cite_4 @cite_12 . The consideration of capacities in cost-sharing games was first suggested by Feldman and Ron @cite_10 .
@cite_4 @cite_7 @cite_8 @cite_10 @cite_9 @cite_1 @cite_6 @cite_0 @cite_2 @cite_5 @cite_15 @cite_13 @cite_12 @cite_11
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We resolve the worst-case price of anarchy (POA) of atomic splittable congestion games. Prior to this work, no tight bounds on the POA in such games were known, even for the simplest non-trivial special case of affine cost functions. We make two distinct contributions. On the upper-bound side, we define the framework of "local smoothness", which refines the standard smoothness framework for games with convex strategy sets. While standard smoothness arguments cannot establish tight bounds on the POA in atomic splittable congestion games, we prove that local smoothness arguments can. Further, we prove that every POA bound derived via local smoothness applies automatically to every correlated equilibrium of the game. Unlike standard smoothness arguments, bounds proved using local smoothness do not always apply to the coarse correlated equilibria of the game. Our second contribution is a very general lower bound: for every set L that satisfies mild technical conditions, the worst-case POA of pure Nash equilibria in atomic splittable congestion games with cost functions in L is exactly the smallest upper bound provable using local smoothness arguments. In particular, the worst-case POA of pure Nash equilibria, mixed Nash equilibria, and correlated equilibria coincide in such games. In this paper, we introduce and analyze the properties of a class of games, the atomic congestion games on graphs (ACGGs), which is a generalization of the classical congestion games. In particular, an ACGG captures the spatial information that is often ignored in a classical congestion game. This is useful in many networking problems, e.g., wireless networks where interference among the users heavily depends on the spatial information. In an ACGG, a player's payoff for using a resource is a function of the number of players who interact with it and use the same resource. Such spatial information can be captured by a graph. We study fundamental properties of the ACGGs: under what conditions these games possess a pure strategy Nash equilibrium (PNE), or the finite improvement property (FIP), which is sufficient for the existence of a PNE. We show that a PNE may not exist in general, but that it does exist in many important special cases including tree, loop, or regular bipartite networks. The FIP holds for important special cases including systems with two resources or identical payoff functions for each resource. Finally, we present two wireless network applications of ACGGs: power control and channel contention under IEEE 802.11. We study network games in which each player wishes to connect his source and sink, and the cost of each edge is shared among its users either equally (in Fair Connection Games--FCG's) or arbitrarily (in General Connection Games--GCG's). We study the existence and quality of strong equilibria (SE)--strategy profiles from which no coalition can improve the cost of each of its members--in these settings. We show that SE always exist in the following games: (1) Single source and sink FCG's and GCG's. (2) Single source multiple sinks FCG's and GCG's on series parallel graphs. (3) Multi source and sink FCG's on extension parallel graphs. As for the quality of the SE, in any FCG with n players, the cost of any SE is bounded by H(n) (i.e., the harmonic sum), contrasted with the [Theta](n) price of anarchy. For any GCG, any SE is optimal. We study the outcome of natural learning algorithms in atomic congestion games. Atomic congestion games have a wide variety of equilibria often with vastly differing social costs. We show that in almost all such games, the well- known multiplicative-weights learning algorithm results in convergence to pure equilibria. Our results show that nat- ural learning behavior can avoid bad outcomes predicted by the price of anarchy in atomic congestion games such as the load-balancing game introduced by Koutsoupias and Pa- padimitriou, which has super-constant price of anarchy and has correlated equilibria that are exponentially worse than any mixed Nash equilibrium. Our results identify a set of mixed Nash equilibria that we call weakly stable equilibria. Our notion of weakly stable is defined game-theoretically, but we show that this property holds whenever a stability criterion from the theory of dy- namical systems is satisfied. This allows us to show that in every congestion game, the distribution of play converges to the set of weakly stable equilibria. Pure Nash equilibria are weakly stable, and we show using techniques from algebraic geometry that the converse is true with probability 1 when congestion costs are selected at random independently on each edge (from any monotonically parametrized distribu- tion). We further extend our results to show that players can use algorithms with different (sufficiently small) learn- ing rates, i.e. they can trade off convergence speed and long term average regret differently. A network congestion game is played on a directed, two-terminal network. Every player chooses a route from his origin to his destination. The cost of a route is the sum of the costs of the arcs on it. The arc cost is a function of the number of players who use it. Rosenthal proved that such a game always has a Nash equilibrium in pure strategies. Here we pursue a systematic study of the classes of networks for which a strong equilibrium is guaranteed to exist, under two opposite monotonicity assumptions on the arc cost functions. Our main results are: (a) If costs are increasing, strong equilibrium is guaranteed on extension-parallel networks, regardless of whether the players’ origins and destinations are the same or may differ. (b) If costs are decreasing, and the players have the same origin but possibly different destinations, strong equilibrium is guaranteed on series-parallel networks. (c) If costs are decreasing, and both origins and destinations may differ, strong equilibrium is guaranteed on multiextension-parallel networks. In each case, the network condition is not only sufficient but also necessary in order to guarantee strong equilibrium. These results extend and improve earlier ones by Holzman and Law-Yone in the increasing case, and by in the decreasing case. We consider multi-player repeated games involving a large number of players with large strategy spaces and enmeshed utility structures. In these ldquolarge-scalerdquo games, players are inherently faced with limitations in both their observational and computational capabilities. Accordingly, players in large-scale games need to make their decisions using algorithms that accommodate limitations in information gathering and processing. This disqualifies some of the well known decision making models such as ldquoFictitious Playrdquo (FP), in which each player must monitor the individual actions of every other player and must optimize over a high dimensional probability space. We will show that Joint Strategy Fictitious Play (JSFP), a close variant of FP, alleviates both the informational and computational burden of FP. Furthermore, we introduce JSFP with inertia, i.e., a probabilistic reluctance to change strategies, and establish the convergence to a pure Nash equilibrium in all generalized ordinal potential games in both cases of averaged or exponentially discounted historical data. We illustrate JSFP with inertia on the specific class of congestion games, a subset of generalized ordinal potential games. In particular, we illustrate the main results on a distributed traffic routing problem and derive tolling procedures that can lead to optimized total traffic congestion. In citepapa, Papadimitriou formalized the notion of routing stability in BGP as the following coalitional game theoretic problem: Given a network with a multicommodity flow satisfying node capacity and demand constraints, the payoff of a node is the total flow originated or terminated at it. A payoff allocation is in the core if and only if there is no subset of nodes that can increase their payoff by seceding from the network. We answer one of the open problems in citepapa by proving that for any network, the core is non-empty in both the transferable (where the nodes can compensate each other with side payments) and the non-transferable case. In the transferable case we show that such an allocation can be computed in polynomial time. We also generalize this result to the case where a strictly concave utility function is associated with each commodity. This paper is concerned with the game theoretical approach in designing the multiuser downlink beamformers in multicell systems. Sharing the same physical resource, the base-station of each cell wishes to minimize its transmit power subject to a set of target signal-to-interference-plus-noise ratios (SINRs) at the multiple users in the cell. In this context, at first, the paper considers a strategic noncooperative game (SNG) where each base-station greedily determines its optimal downlink beamformer strategy in a distributed manner, without any coordination between the cells. Via the game theory framework, it is shown that this game belongs to the framework of standard functions. The conditions guaranteeing the existence and uniqueness of a Nash Equilibrium (NE) in this competitive design are subsequently examined. The paper then makes a revisit to the fully coordinated design in multicell downlink beamforming, where the optimal beamformers are jointly designed between the base-stations. A comparison between the competitive and coordinated designs shows the benefits of applying the former over the latter in terms of each design's distributed implementation. Finally, in order to improve the efficiency of the NE in the competitive design, the paper considers a more cooperative game through a pricing mechanism. The pricing consideration enables a base-station to steer its beamformers in a more cooperative manner, which ultimately limits the interference induced to other cells. The study on the existence and uniqueness of the new game's NE is then given. The paper also presents a condition on the pricing factors that allow the new NE point to approach the performance established by the coordinated design, while retaining the distributed nature of the multicell game. Congestion games are multi-player games in which players' costs are additive over a set of resources that have anonymous cost functions, with pure strategies corresponding to certain subsets of resources. In a splittable congestion game, each player can choose a convex combination of subsets of resources. We characterize the worst-case price of anarchy — a quantitative measure of the inefficiency of equilibria — in splittable congestion games. Our approximation guarantee is parameterized by the set of allowable resource cost functions, and degrades with the “degree of nonlinearity” of these cost functions. We prove that our guarantee is the best possible for every set of cost functions that satisfies mild technical conditions. We prove our guarantee using a novel “local smoothness” proof framework, and as a consequence the guarantee applies not only to the Nash equilibria of splittable congestion games, but also to all correlated equilibria. Abstract 6 introduced the class of congestion games and proved that they always possess a Nash equilibrium in pure strategies. Here we obtain conditions for the existence of a strong equilibrium in this class of games, as well as for the equivalence of Nash and strong equilibria. We also give conditions for uniqueness and for Pareto optimality of the Nash equilibrium. Except for a natural monotonicity assumption on the utilities, the conditions are expressed only in terms of the underlying congestion game form. It turns out that avoiding a certain type of bad configuration in the strategy spaces is essential to positive results. Journal of Economic Literature Classification Numbers: C71, C72, D62. The price of anarchy (POA) is a worst-case measure of the inefficiency of selfish behavior, defined as the ratio of the objective function value of a worst Nash equilibrium of a game and that of an optimal outcome. This measure implicitly assumes that players successfully reach some Nash equilibrium. This drawback motivates the search for inefficiency bounds that apply more generally to weaker notions of equilibria, such as mixed Nash and correlated equilibria; or to sequences of outcomes generated by natural experimentation strategies, such as successive best responses or simultaneous regret-minimization. We prove a general and fundamental connection between the price of anarchy and its seemingly stronger relatives in classes of games with a sum objective. First, we identify a "canonical sufficient condition" for an upper bound of the POA for pure Nash equilibria, which we call a smoothness argument. Second, we show that every bound derived via a smoothness argument extends automatically, with no quantitative degradation in the bound, to mixed Nash equilibria, correlated equilibria, and the average objective function value of regret-minimizing players (or "price of total anarchy"). Smoothness arguments also have automatic implications for the inefficiency of approximate and Bayesian-Nash equilibria and, under mild additional assumptions, for bicriteria bounds and for polynomial-length best-response sequences. We also identify classes of games --- most notably, congestion games with cost functions restricted to an arbitrary fixed set --- that are tight, in the sense that smoothness arguments are guaranteed to produce an optimal worst-case upper bound on the POA, even for the smallest set of interest (pure Nash equilibria). Byproducts of our proof of this result include the first tight bounds on the POA in congestion games with non-polynomial cost functions, and the first structural characterization of atomic congestion games that are universal worst-case examples for the POA. Bottleneck congestion games properly model the properties of many real-world network routing applications. They are known to possess strong equilibria—a strengthening of Nash equilibrium to resilience against coalitional deviations. In this paper, we study the computational complexity of pure Nash and strong equilibria in these games. We provide a generic centralized algorithm to compute strong equilibria, which has polynomial running time for many interesting classes of games such as, e.g., matroid or single-commodity bottleneck congestion games. In addition, we examine the more demanding goal to reach equilibria in polynomial time using natural improvement dynamics. Using unilateral improvement dynamics in matroid games pure Nash equilibria can be reached efficiently. In contrast, computing even a single coalitional improvement move in matroid and single-commodity games is strongly NP-hard. In addition, we establish a variety of hardness results and lower bounds regarding the duration of unilateral and coalitional improvement dynamics. They continue to hold even for convergence to approximate equilibria. We study network design games where @math self-interested agents have to form a network by purchasing links from a given set of edges. We consider Shapley cost sharing mechanisms that split the cost of an edge in a fair manner among the agents using the edge. It is well known that the price of anarchy of these games is as high as @math . Another line of research has focused on evaluating the price of stability, i.e., the cost of the best Nash equilibrium relative to the social optimum. In this paper we investigate to which extent coordination among agents can improve the quality of solutions. We resort to the concept of strong Nash equilibria, which were introduced by Aumann and are resilient to deviations by coalitions of agents. We analyze the price of anarchy of strong Nash equilibria and develop lower and upper bounds for unweighted and weighted games in both directed and undirected graphs. These bounds are tight or nearly tight for many scenarios. It shows that, by using coordination, the price of anarchy drops from linear to logarithmic bounds. We complement these results by also proving the first superconstant lower bound on the price of stability of standard equilibria (without coordination) in undirected graphs. More specifically, we show a lower bound of @math for weighted games, where @math is the total weight of all the agents. This almost matches the known upper bound of @math . Our results imply that, for most settings, the worst-case performance ratios of strong coordinated equilibria are essentially always as good as the performance ratios of the best equilibria achievable without coordination. These settings include unweighted games in directed graphs as well as weighted games in both directed and undirected graphs. We study a capacitated symmetric network design game, where each of n agents wishes to construct a path from a network's source to its sink, and the cost of each edge is shared equally among the agents using it. The uncapacitated version of this problem has been introduced by (2003) and has been extensively studied. We find that the consideration of edge capacities entails a significant effect on the quality of the obtained Nash equilibria (NE), under both the utilitarian and the egalitarian objective functions, as well as on the convergence rate to an equilibrium. The following results are established. First, we provide bounds for the price of anarchy (PoA) and the price of stability (PoS) measures with respect to the utilitarian (i.e., sum of costs) and egalitarian (i.e., maximum cost) objective functions. Our main result here is that unlike the uncapacitated version, the network topology is a crucial factor in the quality of NE. Specifically, a network topology has a bounded PoA if and only if it is series-parallel (SP), i.e., a network that is built inductively by series compositions and parallel compositions of SP networks. Second, we show that the convergence rate of best-response dynamics (BRD) may take Ω(n1.5) steps. This is in contrast to the uncapacitated version, where convergence is guaranteed within at most n iterations.