Optimal Transport-Based Decentralized Multiagent Distribution Matching

• 成果类型: Article
• 署名作者: Lee, Kooktae
• 署名单位: New Mexico Institute of Mining Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3668445
• 发表日期: 2026
• 关键词: Coverage control

摘要

This article presents a decentralized control framework for distribution matching in multiagent systems, where agents collectively achieve a prescribed terminal spatial distribution. The problem is formulated using optimal transport (Wasserstein distance), which provides a principled measure of distributional discrepancy and serves as the basis for the control design. To avoid solving the global optimal transport problem directly, the distribution-matching objective is reformulated into a tractable per-agent decision process, enabling each agent to identify its desired terminal locations using only locally available information. A sequential weight-update rule is introduced to construct feasible local transport plans, and a memory-based correction mechanism is incorporated to maintain reliable operation under intermittent and range-limited communication. Convergence guarantees are established, showing cyclewise improvement of a surrogate transport cost under both linear and nonlinear agent dynamics. Simulation results demonstrate that the proposed framework achieves effective and scalable distribution matching while operating in a fully decentralized manner.