Finding all Nash equilibria of a finite game using polynomial algebra

The set of Nash equilibria of a finite game is the set of nonnegative solutions to a system of polynomial equations. In this survey article, we describe how to construct certain special games and explain how to find all the complex roots of the corresponding polynomial systems, including all the Nash equilibria. We then explain how to find all the complex roots of the polynomial systems for arbitrary generic games, by polyhedral homotopy continuation starting from the solutions to the specially constructed games. We describe the use of Gröbner bases to solve these polynomial systems and to learn geometric information about how the solution set varies with the payoff functions. Finally, we review the use of the Gambit software package to find all Nash equilibria of a finite game.     

Congestion games with load-dependent failures: Identical resources

We define a new class of games, congestion games with load-dependent failures (CGLFs). In a CGLF each player can choose a subset of a set of available resources in order to try and perform his task. We assume that the resources are identical but that players' benefits from successful completion of their tasks may differ. Each resource is associated with a cost of use and a failure probability which are load-dependent. Although CGLFs in general do not have a pure strategy Nash equilibrium, we prove the existence of a pure strategy Nash equilibrium in every CGLF with nondecreasing cost functions. Moreover, we present a polynomial time algorithm for computing such an equilibrium.     

On ‘Informationally Robust Equilibria’ for Bimatrix Games

Informationally robust equilibria (IRE) are introduced in Robson (Games Econ Behav 7: 233–245, 1994) as a refinement of Nash equilibria for strategic games. Such equilibria are limits of a sequence of (subgame perfect) Nash equilibria in perturbed games where with small probability information about the strategic behavior is revealed to other players (information leakage). Focusing on bimatrix games, we consider a type of informationally robust equilibria and derive a number of properties they form a non-empty and closed subset of the Nash equilibria. Moreover, IRE is a strict concept in the sense that the IRE are independent of the exact sequence of probabilities with which information is leaked. The set of IRE, like the set of Nash equilibria, is the finite union of polytopes. In potential games, there is an IRE in pure strategies. In zero-sum games, the set of IRE has a product structure and its elements can be computed efficiently by using linear programming. We also discuss extensions to games with infinite strategy spaces and more than two players. The authors would like to thank Marieke Quant for her helpful comments.     

Variational convergence: Approximation and existence of equilibria in discontinuous games

We introduce a notion of variational convergence for sequences of games and we show that the Nash equilibrium map is upper semi-continuous with respect to variationally converging sequences. We then show that for a game G with discontinuous payoff, some of the most important existence results of Dasgupta and Maskin, Simon, and Reny are based on constructing approximating sequences of games that variationally converge to G. In fact, this notion of convergence will help simplify these results and make their proofs more transparent. Finally, we use our notion of convergence to establish the existence of a Nash equilibrium for Bertrand-Edgeworth games with very general forms of tie-breaking and residual demand rules.     

Asymptotic expected number of Nash equilibria of two-player normal form games

The formula given by McLennan [The mean number of real roots of a multihomogeneous system of polynomial equations, Amer. J. Math. 124 (2002) 49–73] is applied to the mean number of Nash equilibria of random two-player normal form games in which the two players have M and N pure strategies respectively. Holding M fixed while N→∞, the expected number of Nash equilibria is approximately . Letting M=N→∞, the expected number of Nash equilibria is , where is a constant, and almost all equilibria have each player assigning positive probability to approximately 31.5915 percent of her pure strategies.     

Universality of Nash components

We show that Nash equilibrium components are universal for the collection of connected polyhedral sets. More precisely for every polyhedral set we construct a so-called binary game—a game where all players have two pure strategies and a common utility function with values either zero or one—whose success set (the set of strategy profiles where the maximal payoff of one is indeed achieved) is homeomorphic to the given polyhedral set. Since compact semi-algebraic sets can be triangulated, a similar result follows for the collection of connected compact semi-algebraic sets.We discuss implications of our results for the strategic stability of success sets, and use the results to construct a Nash component with index k for any fixed integer k.     

Trading with a common agent under complete information: A characterization of Nash equilibria

We analyze an abstract model of trading where N principals submit quantity-payment schedules that describe the contracts they offer to an agent, and the agent then chooses how much to trade with every principal. This represents a special class of common agency games with complete information. We study all the subgame perfect Nash equilibria of these games, not only truthful ones, providing a complete characterization of equilibrium payoffs. In particular, we show that the equilibrium that is Pareto-dominant for the principals is not truthful when there are more than two of them. We also provide a partial characterization of equilibrium strategies.     

Simple search methods for finding a Nash equilibrium

We present two simple search methods for computing a sample Nash equilibrium in a normal-form game: one for 2-player games and one for n-player games. Both algorithms bias the search towards supports that are small and balanced, and employ a backtracking procedure to efficiently explore these supports. Making use of a new comprehensive testbed, we test these algorithms on many classes of games, and show that they perform well against the state of the art—the Lemke–Howson algorithm for 2-player games, and Simplicial Subdivision and Govindan–Wilson for n-player games.     

A unified approach to comparative statics puzzles in experiments

The paper shows that several game-theoretic solution concepts provide similar comparative statics predictions over a wide class of games. I start from the observation that, in many experiments, behavior is affected by parameter shifts that leave the Nash equilibrium unchanged. I explain the direction of change with a heuristic structural approach, using properties such as strategic complementarities and increasing differences. I show that the approach is consistent with general comparative statics results for (i) the Nash equilibrium of a game with perturbed payoff functions, (ii) the quantal response equilibrium, (iii) level-k reasoning. I also relate the structural approach to equilibrium selection concepts.     

A note on bimatrix games with an unknown payoff matrix

We show that, using a simple decision rule, two players repeatedly playing the same zero-sum game without the direct knowledge of the payoff matrix will ultimately achieve the Nash Equilibrium if the game possesses a unique pure strategy Nash Equilibrium. For other bimatrix games, the simple decision rule does not suffice to generate the nice convergence property.     

Competitive behavior in market games: Evidence and theory

We explore whether competitive outcomes arise in an experimental implementation of a market game, introduced by Shubik (1973) [21]. Market games obtain Pareto inferior (strict) Nash equilibria, in which some or possibly all markets are closed. We find that subjects do not coordinate on autarkic Nash equilibria, but favor more efficient Nash equilibria in which all markets are open. As the number of subjects participating in the market game increases, the Nash equilibrium they achieve approximates the associated competitive equilibrium of the underlying economy. Motivated by these findings, we provide a theoretical argument for why evolutionary forces can lead to competitive outcomes in market games.     

Pareto-optimal Nash equilibria are competitive in a repeated economy

Consider a finite exchange economy first as a static, 1 period, economy and then as a repeated economy over T periods when the utility of each agent is the mean utility over T. A family of strategic games is defined via a set of six general properties the most distinct of which is the ability of agents to move commodities forward in time. Now consider Pareto optimal allocations in the T period economy which are also Nash equilibria in this family of strategic games. We prove that as T becomes large this set converges to the set of competitive utility allocations in the one period economy. The key idea is that a repetition of the economy when agents can move commodities forward in the time acts as a convexification of the set of individually feasible outcomes for player i holding all other strategies fixed.     

Stable games and their dynamics

We study a class of population games called stable games. These games are characterized by self-defeating externalities: when agents revise their strategies, the improvements in the payoffs of strategies to which revising agents are switching are always exceeded by the improvements in the payoffs of strategies which revising agents are abandoning. We prove that the set of Nash equilibria of a stable game is globally asymptotically stable under a wide range of evolutionary dynamics. Convergence results for stable games are not as general as those for potential games: in addition to monotonicity of the dynamics, integrability of the agents' revision protocols plays a key role.     

Fault tolerance in large games

A Nash equilibrium is an optimal strategy for each player under the assumption that others play according to their respective Nash strategies, but it provides no guarantees in the presence of irrational players or coalitions of colluding players. In fact, no such guarantees exist in general. However, in this paper we show that large games are innately fault tolerant. We quantify the ways in which two subclasses of large games – λ-continuous games and anonymous games – are resilient against Byzantine faults (i.e. irrational behavior), coalitions, and asynchronous play. We also show that general large games have some non-trivial resilience against faults.     

A Unifying Pair of Cournot-Nash Equilibrium Existence Results

For games with a measure space of players a tandem pair, consisting of a mixed and a pure Cournot-Nash equilibrium existence result, is presented. Their generality causes them to be completely mutually equivalent. This provides a unifying pair of Cournot-Nash existence results that goes considerably beyond the central result of E. J. Balder (1995, Int. J. Game Theory24, 79-94, Theorem 2.1). The versatility of this pair is demonstrated by the following new applications: (i) unification and generalization of the two equilibrium distribution existence results by K. P. Rath (1996, J. Math. Econ.26, 305-324) for anonymous games, (ii) generalization of the equilibrium existence result of T. Kim and N. C. Yannelis (1997, J. Econ. Theory77, 330-353) for Bayesian differential information games, (iii) inclusion of the Bayesian Nash equilibrium existence results of P. R. Milgrom and R. J. Weber (1985, Math. Oper. Res.10, 619-632) and E. J. Balder (1988, Math. Operations Res.13, 265-276) for games with private information in the sense of J. C. Harsanyi (1967, Manage. Sci.14, 159-182). Journal of Economic Literature Classification Number: C72.     

Generic 4 × 4 Two Person Games Have at Most 15 Nash Equilibria

The maximal generic number of Nash equilibria for two person games in which the two agents each have four pure strategies is shown to be 15. In contrast to Keiding (1997),Games Econ. Behav.21, 148–160, who arrives at this result by referring to the enumeration of Grünbaum and Sreedharan (1967),J. Combin. Theory2, 437–465, our argument is based on a collection of lemmas that constrain the set of equilibria. Several of these pertain to any common numberdof pure strategies for the two agents.Journal of Economic LiteratureClassification Number: C72.     

Equilibrium play in matches: Binary Markov games

We study two-person extensive form games, or “matches,” in which the only possible outcomes (if the game terminates) are that one player or the other is declared the winner. The winner of the match is determined by the winning of points, in “point games.” We call these matches binary Markov games. We show that if a simple monotonicity condition is satisfied, then (a) it is a Nash equilibrium of the match for the players, at each point, to play a Nash equilibrium of the point game; (b) it is a minimax behavior strategy in the match for a player to play minimax in each point game; and (c) when the point games all have unique Nash equilibria, the only Nash equilibrium of the binary Markov game consists of minimax play at each point. An application to tennis is provided.     

Homotopy methods to compute equilibria in game theory

This paper presents a survey of the use of homotopy methods in game theory. Homotopies allow for a robust computation of game-theoretic equilibria and their refinements. Homotopies are also suitable to compute equilibria that are selected by various selection theories. We present the relevant techniques underlying homotopy algorithms. We give detailed expositions of the Lemke–Howson algorithm and the van den Elzen–Talman algorithm to compute Nash equilibria in 2-person games, and the Herings–van den Elzen, Herings–Peeters, and McKelvey–Palfrey algorithms to compute Nash equilibria in general n-person games. We explain how the main ideas can be extended to compute equilibria in extensive form and dynamic games, and how homotopies can be used to compute all Nash equilibria.     

Iterated strict dominance in general games

We offer a definition of iterated elimination of strictly dominated strategies (IESDS^*) for games with (in)finite players, (non)compact strategy sets, and (dis)continuous payoff functions. IESDS^* is always a well-defined order independent procedure that can be used to solve Nash equilibrium in dominance-solvable games. We characterize IESDS^* by means of a “stability” criterion, and offer a sufficient and necessary epistemic condition for IESDS^*. We show by an example that IESDS^* may generate spurious Nash equilibria in the class of Reny's better-reply secure games. We provide sufficient/necessary conditions under which IESDS^* preserves the set of Nash equilibria.     

Iterated strict dominance in general games

We offer a definition of iterated elimination of strictly dominated strategies (IESDS^*) for games with (in)finite players, (non)compact strategy sets, and (dis)continuous payoff functions. IESDS^* is always a well-defined order independent procedure that can be used to solve Nash equilibrium in dominance-solvable games. We characterize IESDS^* by means of a “stability” criterion, and offer a sufficient and necessary epistemic condition for IESDS^*. We show by an example that IESDS^* may generate spurious Nash equilibria in the class of Reny's better-reply secure games. We provide sufficient/necessary conditions under which IESDS^* preserves the set of Nash equilibria.