This article proposes two decentralized multiagent optimal control methods that combine the
computational efficiency and scalability of differential dynamic programming (DDP) and the …

In this paper, we study the finite-horizon optimal density steering problem for discrete-time
stochastic linear dynamical systems for the case when the state distribution can be …

This article considers the problem of motion coordination for a multiagent (MA) network
whose goal is to track a large-scale multitarget (MT) system in a region populated by …

As the scale and complexity of multi-agent robotic systems are subject to a continuous
increase, this paper considers a class of systems labeled as Very-Large-Scale Multi-Agent …

Abstract The field of Very-Large-Scale Robotics (VLSR) has garnered significant attention
due to its ability to tackle complex and coordinated tasks. However, current motion planning …

In this paper, we address the optimal transport problem over a linear quadratic regulator with
free-final-states (the free OT-LQR problem). We prove the existence and uniqueness of the …

We study the problem of enforcing safety in multiagent systems at runtime by modifying the
system behavior if a potential safety violation is detected. Traditional runtime enforcement …

Swarm robotics, or very large-scale robotics (VLSR), has many meaningful applications for
complicated tasks. However, the complexity of motion control and energy costs stack up …

Swarm robotic systems consisting of large-scale cooperative agents hold promise for
performing autonomous tasks in diverse fields. However, existing planning strategies for …

Industrial processes, networked systems, and high-precision instruments often involve many
subsystems operating in unison on a mutual task. These processes are commonly referred …