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Optimal Assignment and Motion Control in Two-Class Continuum Swarms
Assignments have costs related to the distances between mutually assigned agents, and the overall cost of an assignment is quantified by a Wasserstein distance between the densities of the two agent classes.
Causal Tracking of Distributions in Wasserstein Space: A Model Predictive Control Scheme
Optimal solutions to this problem are non-causal and require knowing the time-trajectory of the reference distribution in advance.
Continuum Swarm Tracking Control: A Geometric Perspective in Wasserstein Space
We consider a setting in which one swarm of agents is to service or track a second swarm, and formulate an optimal control problem which trades off between the competing objectives of servicing and motion costs.
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