Stochastic D²OC guarantees that the time-averaged empirical distribution of stochastic LTI multi-agent systems converges to a target density with bounded tracking error via reachability analysis.
Density-aware decentralised multi-agent exploration with energy constraint based on optimal transport theory.International Journal of Systems Science, 53(4):851–869
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Density-Driven Optimal Control: Convergence Guarantees for Stochastic LTI Multi-Agent Systems
Stochastic D²OC guarantees that the time-averaged empirical distribution of stochastic LTI multi-agent systems converges to a target density with bounded tracking error via reachability analysis.