Stochastic D²OC guarantees that the time-averaged empirical distribution of stochastic LTI multi-agent systems converges to a target density with bounded tracking error via reachability analysis.
Connectivity-preserving multi-agent area coverage via density-driven optimal control (d2oc).IEEE Control Systems Letters, 9:2723–2728
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Density-Driven Optimal Control: Convergence Guarantees for Stochastic LTI Multi-Agent Systems
Stochastic D²OC guarantees that the time-averaged empirical distribution of stochastic LTI multi-agent systems converges to a target density with bounded tracking error via reachability analysis.