Computationally Efficient Density-Driven Optimal Control via Analytical KKT Reduction and Contractive MPC

arXiv:2603.18503 · math.OC, cs.MA, cs.RO · Submitted 2026-03-19 · Read on arXiv

math.OC, cs.MA, cs.RO

Submitted: 2026-03-19

Updated: 2026-09-19

Terminology

Multi-Agent System — 6× in this paper · explained in 5 episodes
Input-to-State Stability — 4× in this paper
Closed-Loop System — 3× in this paper · explained in 4 episodes
Distribution Matching — 3× in this paper · explained in 2 episodes
Optimal Transport — 3× in this paper · explained in 5 episodes
Fidelity — 2× in this paper · explained in 2 episodes
Wasserstein Distance — 2× in this paper · explained in 4 episodes
Alignment — 1× in this paper · explained in 1 episode
Consistency — 1× in this paper · explained in 3 episodes
Core — 1× in this paper · explained in 2 episodes
Gaussian Mixture Model (GMM) — 1× in this paper · explained in 2 episodes
Linear Matrix Inequality — 1× in this paper
Linear Time-Invariant — 1× in this paper
Local Optimization — 1× in this paper · explained in 2 episodes
Objective Function — 1× in this paper · explained in 2 episodes
Robustness — 1× in this paper · explained in 5 episodes
Second-Order Cone — 1× in this paper

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