{"ID":2823187,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2601.00548","arxiv_id":"2601.00548","title":"Optimal Transport-Based Decentralized Multi-Agent Distribution Matching","abstract":"This paper presents a decentralized control framework for distribution matching in multi-agent systems (MAS), 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 cycle-wise 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 fully in a decentralized manner.","short_abstract":"This paper presents a decentralized control framework for distribution matching in multi-agent systems (MAS), 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 disc...","url_abs":"https://arxiv.org/abs/2601.00548","url_pdf":"https://arxiv.org/pdf/2601.00548v2","authors":"[\"Kooktae Lee\"]","published":"2026-01-02T03:35:25Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"cs.RO\"]","methods":"[]","has_code":false}