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math.OC2026
Density-Driven Optimal Control: Convergence Guarantees for Stochastic LTI Multi-Agent Systems
Kooktae Lee
This paper addresses the decentralized non-uniform area coverage problem for multi-agent systems, a critical task in missions with high spatial priority and resource constraints. W…
math.OC2026
Computationally Efficient Density-Driven Optimal Control via Analytical KKT Reduction and Contractive MPC
Julian Martinez, Kooktae Lee
Efficient coordination for collective spatial distribution is a fundamental challenge in multi-agent systems. Prior research on Density-Driven Optimal Control (D2OC) established a…