4 papers
Feedforward Density-Driven Optimal Control for Tracking Time-Varying Distributions with Guaranteed Stability
Julian Martinez, Kooktae Lee
This paper addresses the spatiotemporal mismatch in multi-agent distribution tracking within time-varying environments. While recent advancements in Density-Driven Optimal Control…
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…
AI-Augmented Density-Driven Optimal Control (D2OC) for Decentralized Environmental Mapping
Kooktae Lee, Julian Martinez
This paper presents an AI-augmented decentralized framework for multi-agent (multi-robot) environmental mapping under limited sensing and communication. While conventional coverage…
Breaking Symmetry-Induced Degeneracy in Multi-Agent Ergodic Coverage via Stochastic Spectral Control
Kooktae Lee, Julian Martinez
Multi-agent ergodic coverage via Spectral Multiscale Coverage (SMC) provides a principled framework for driving a team of agents so that their collective time-averaged trajectories…