Computationally Efficient Density-Driven Optimal Control via Analytical KKT Reduction and Contractive MPC

arXiv:2603.18503 · math.OC, cs.MA, cs.RO · Submitted 2026-03-19 · Read on arXiv

math.OC, cs.MA, cs.RO

Submitted: 2026-03-19

Updated: 2026-09-19

Comments: Accepted at the 2026 IEEE Conference on Decision and Control (CDC)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Multi-Agent System — 6× in this paper · explained in 5 episodes
• Input-to-State Stability — 4× in this paper
• Closed-Loop System — 3× in this paper · explained in 4 episodes
• Distribution Matching — 3× in this paper · explained in 2 episodes
• Optimal Transport — 3× in this paper · explained in 5 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Wasserstein Distance — 2× in this paper · explained in 4 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Gaussian Mixture Model (GMM) — 1× in this paper · explained in 2 episodes
• Linear Matrix Inequality — 1× in this paper
• Linear Time-Invariant — 1× in this paper
• Local Optimization — 1× in this paper · explained in 2 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Second-Order Cone — 1× in this paper

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