Game Theory a Playful Introduction
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STUDENT MATHEMATICAL LIBRARY Volume 80 Game Theory A Playful Introduction Matt DeVos Deborah A. Kent Game Theory A Playful Introduction https://doi.org/10.1090//stml/080 STUDENT MATHEMATICAL LIBRARY Volume 80 Game Theory A Playful Introduction Matt DeVos Deborah A. Kent Providence, Rhode Island Editorial Board Satyan L. Devadoss John Stillwell (Chair) Erica Flapan Serge Tabachnikov 2010 Mathematics Subject Classification. Primary 91-01, 91A46, 91A06, 91B06. For additional information and updates on this book, visit www.ams.org/bookpages/stml-80 Library of Congress Cataloging-in-Publication Data Names: DeVos, Matthew Jared, 1974- j Kent, Deborah A., 1978- Title: Game theory : a playful introduction / Matthew DeVos, Deborah A. Kent. Description: Providence, Rhode Island : American Mathematical Society, [2016] j Series: Student mathematical library ; volume 80 j Includes bibliographical references and index. Identifiers: LCCN 2016035452 j ISBN 9781470422103 (alk. paper) Subjects: LCSH: Game theory–Textbooks. j Combinatorial analysis–Textbooks. j AMS: Game theory, economics, social and behavioral sciences – Instructional exposition (textbooks, tutorial papers, etc.). msc j Game theory, economics, social and behavioral sciences – Game theory – Combinatorial games. msc j Game theory, economics, social and behavioral sciences – Game theory – n-person games, n > 2. msc j Game the- ory, economics, social and behavioral sciences – Mathematical economics – Decision theory. msc Classification: LCC QA269 .D45 2016 j DDC 519.3–dc23 LC record available at https://lccn.loc.gov/2016035452 Copying and reprinting. Individual readers of this publication, and nonprofit libraries acting for them, are permitted to make fair use of the material, such as to copy select pages for use in teaching or research. Permission is granted to quote brief passages from this publication in reviews, provided the customary acknowledgment of the source is given. Republication, systematic copying, or multiple reproduction of any material in this publication is permitted only under license from the American Mathematical Society. Permissions to reuse portions r of AMS publication content are handled by Copyright Clearance Center’s RightsLink service. For more information, please visit: http://www.ams.org/rightslink. Send requests for translation rights and licensed reprints to [email protected]. Excluded from these provisions is material for which the author holds copyright. In such cases, requests for permission to reuse or reprint material should be addressed directly to the author(s). Copy- right ownership is indicated on the copyright page, or on the lower right-hand corner of the first page of each article within proceedings volumes. © 2016 by the American Mathematical Society. All rights reserved. The American Mathematical Society retains all rights except those granted to the United States Government. Printed in the United States of America. ⃝1 The paper used in this book is acid-free and falls within the guidelines established to ensure permanence and durability. Visit the AMS home page at http://www.ams.org/ 10 9 8 7 6 5 4 3 2 1 21 20 19 18 17 16 Dedicated to my family, MD. For Mom, in memory with love, DK. Contents Preface xi Chapter 1. Combinatorial Games 1 §1.1. Game Trees 3 §1.2. Zermelo’s Theorem 9 §1.3. Strategy 14 Exercises 19 Chapter 2. Normal-Play Games 25 §2.1. Positions and Their Types 27 §2.2. Sums of Positions 30 §2.3. Equivalence 36 Exercises 41 Chapter 3. Impartial Games 45 §3.1. Nim 46 §3.2. The Sprague-Grundy Theorem 52 §3.3. Applying the MEX Principle 54 Exercises 59 vii viii Contents Chapter 4. Hackenbush and Partizan Games 63 §4.1. Hackenbush 64 §4.2. Dyadic Numbers and Positions 71 §4.3. The Simplicity Principle 77 Exercises 83 Chapter 5. Zero-Sum Matrix Games 89 §5.1. Dominance 91 §5.2. Mixed Strategies 95 §5.3. Von Neumann Solutions 100 Exercises 104 Chapter 6. Von Neumann’s Minimax Theorem 111 §6.1. Equating the Opponent’s Results 113 §6.2. Two-Dimensional Games 118 §6.3. Proof of the Minimax Theorem 123 Exercises 128 Chapter 7. General Games 133 §7.1. Utility 135 §7.2. Matrix Games 139 §7.3. Game Trees 145 §7.4. Trees vs. Matrices 150 Exercises 155 Chapter 8. Nash Equilibrium and Applications 161 §8.1. Nash Equilibrium 162 §8.2. Evolutionary Biology 169 §8.3. Cournot Duopoly 176 Exercises 182 Chapter 9. Nash’s Equilibrium Theorem 187 §9.1. Sperner’s Lemma 189 §9.2. Brouwer’s Fixed Point Theorem 192 Contents ix §9.3. Strategy Spaces 198 §9.4. Nash Flow and the Proof 202 Exercises 208 Chapter 10. Cooperation 213 §10.1. The Negotiation Set 214 §10.2. Nash Arbitration 221 §10.3. Repeated Games and the Folk Theorem 228 Exercises 238 Chapter 11. 푛-Player Games 245 §11.1. Matrix Games 247 §11.2. Coalitions 251 §11.3. Shapley Value 260 Exercises 270 Chapter 12. Preferences and Society 275 §12.1. Fair Division 277 §12.2. Stable Marriages 285 §12.3. Arrow’s Impossibility Theorem 290 Exercises 298 Appendix A. On Games and Numbers 301 Appendix B. Linear Programming 309 Basic Theory 310 A Connection to Game Theory 313 LP Duality 317 Appendix C. Nash Equilibrium in High Dimensions 323 Game Boards 331 Bibliography 335 Index of Games 339 Index 341 Preface The story of this book began in 2002 when Matt, then a postdoc at Prince- ton University, was given the opportunity to teach an undergraduate class in game theory. Thanks largely to the 2001 release of a Hollywood movie on the life of the famous Princeton mathematician and (classical) game theorist John Nash, this course attracted a large and highly diverse audience. Princeton’s mathematics department featured not only Nash, but also John Conway, the father of modern combinatorial game theory. So it seemed only natural to blend the two sides of game theory, combi- natorial and classical, into one (rather ambitious) class. The varied back- grounds of the students and the lack of a suitable textbook made for an extremely challenging teaching assignment (that sometimes went awry). However, the simple fun of playing games, the rich mathematical beauty of game theory, and its significant real-world connections still made for an amazing class. Deborah adopted a variant of this material a few years later and fur- ther developed it for a general undergraduate audience. Over the ensu- ing years, Deborah and Matt have both taught numerous incarnations of this course at various universities. Through exchange and collaboration, the material has undergone a thorough evolution, and this textbook rep- resents the culmination of our process. We hope it will provide an intro- ductory course in mathematical game theory that you will find inviting, entertaining, mathematically interesting, and meaningful. xi xii Preface Combinatorial game theory is the study of games like Chess and Checkers in which two opponents alternate moves, each trying to win the game. This part of game theory focuses on deterministic games with full information and is thus highly amenable to recursive analysis. Com- binatorial game theory traces its roots to Charles Bouton’s theory of the game Nim and a classification theorem attributed independently to Roland Sprague and Patrick Grundy. The 1982 publication of the classic Winning Ways for Your Mathematical Plays by Elwyn Berlekamp, John Conway, and Richard Guy laid a modern foundation for the subject— now a thriving branch of combinatorics. In contrast, classical game the- ory is an aspect of applied mathematics frequently taught in departments of economics. Classical game theory is the study of strategic decision- making in situations with two or more players, each of whom may af- fect the outcome. John von Neumann and Oskar Morgenstern are com- monly credited with the foundation of classical game theory in their groundbreaking work Theory of Games and Economic Behavior published in 1944. This treatise established a broad mathematical framework for reasoning about rational decision-making in a wide variety of contexts and it launched a new branch of academic study. Although there have been many significant developments in this theory, John Nash merits mention for his mathematical contributions, most notably the Nash Equilibrium Theorem. Traditionally, the classical and combinatorial sides of game theory are separated in the classroom. A strong theme of strategic thinking nonetheless connects them and we have found the combination to re- sult in a rich and engaging class. The great fun we have had teaching this broad mathematical tour through game theory undergirded our de- cision to write this book. From the very beginning of this project, our goal has been to give an honest introduction to the mathematics of game theory (both combinatorial and classical) that is accessible to an early un- dergraduate student. Over the years, we have developed an approach to teaching combinatorial game theory that avoids some of the set-theoretic complexities found in advanced treatments yet still holds true to the sub- ject. As a result, we achieve the two cornerstones of the Sprague-Grundy Theorem and the Simplicity Principle in an efficient and student-friendly Preface xiii manner. The classical game theory portion of the book contains numer- ous carefully sculpted and easy-to-follow proofs to establish the theoret- ical core of the subject (including the Minimax Theorem, Nash arbitra- tion, Shapley Value, and Arrow’s Paradox). Most significantly, Chapter 9 is entirely devoted to an extremely gentle proof of Nash’s Equilibrium Theorem. For the sake of concreteness, the chapter focuses on 2 × 2 matrices, but each argument generalizes and Appendix C contains full details. Sperner’s Lemma appears in this chapter as the first step of our proof and we offer an intuitive exposition of this lemma by treating itas a game of solitaire. More broadly, Sperner’s Lemma provides a touch- stone through other chapters.