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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2602.17885 |
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| _version_ | 1866910027873255424 |
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| author | Frederick, Christina Zhou, Haomin |
| author_facet | Frederick, Christina Zhou, Haomin |
| contents | We present a finite dimensional variational model for multi-agent path-planning in which a group of agents traverses from initial positions to a target distribution in a moving medium. The model is derived using the agent-based formulation of the Wasserstein Hamiltonian flows that transport between probability distributions while optimizing a running cost. The objective is the mismatch between their final positions and the target distribution. The constraints are a system of Hamiltonian equations that provide the trajectories of the agents. The free variables on which the optimization is defined form a finite vector of the initial velocities for the agents. The model is solved numerically by the L-BFGS method in conjunction with a shooting strategy. Several simulation examples, including a time-dependent moving medium, are presented to illustrate the performance of the model. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_17885 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Multi-agent path-planning in a moving medium via Wasserstein Hamiltonian Flow Frederick, Christina Zhou, Haomin Optimization and Control We present a finite dimensional variational model for multi-agent path-planning in which a group of agents traverses from initial positions to a target distribution in a moving medium. The model is derived using the agent-based formulation of the Wasserstein Hamiltonian flows that transport between probability distributions while optimizing a running cost. The objective is the mismatch between their final positions and the target distribution. The constraints are a system of Hamiltonian equations that provide the trajectories of the agents. The free variables on which the optimization is defined form a finite vector of the initial velocities for the agents. The model is solved numerically by the L-BFGS method in conjunction with a shooting strategy. Several simulation examples, including a time-dependent moving medium, are presented to illustrate the performance of the model. |
| title | Multi-agent path-planning in a moving medium via Wasserstein Hamiltonian Flow |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2602.17885 |