Preprint
Sep 2026
Distributed Stochastic Optimal Control for Pattern-Oriented Swarms
By extending the GRF into the temporal domain, the proposed framework casts collective coordination as a Bayesian inference task, enabling swarms to accommodate environmental uncertainty, satisfy non-convex constraints, and reconcile heterogeneous dynamics across diverse platforms.
Qing-Rui Zhang, Cheng-Hao Yu, Feng Xue et al.
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