OT-MPC computes an optimal coupling between candidate control sequences and low-cost proposals via entropy-regularized optimal transport and the Sinkhorn algorithm to improve sampling-based MPC performance.
Entropic model predictive optimal transport over dynamical systems.Automatica, 152:110980
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Introduces flow matching for measure transport in control-affine systems and a complementary noising-time-reversal method for stabilization, with numerical examples on linear and nonlinear cases.
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Sampling-Based Control via Entropy-Regularized Optimal Transport
OT-MPC computes an optimal coupling between candidate control sequences and low-cost proposals via entropy-regularized optimal transport and the Sinkhorn algorithm to improve sampling-based MPC performance.
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Flow Matching for Measure Transport and Feedback Stabilization of Control-Affine Systems
Introduces flow matching for measure transport in control-affine systems and a complementary noising-time-reversal method for stabilization, with numerical examples on linear and nonlinear cases.