Papers › Dynamic multi-agent assignment via discrete optimal transport
Dynamic multi-agent assignment via discrete optimal transport
Koray G. Kachar, Alex A. Gorodetsky
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
We propose an optimal solution to a deterministic dynamic assignment problem by leveraging connections to the theory of discrete optimal transport to convert the combinatorial assignment problem into a tractable linear program. We seek to allow a multi-vehicle swarm to accomplish a dynamically changing task, for example tracking a multi-target swarm. Our approach simultaneously determines the optimal assignment and the control of the individual agents. As a result, the assignment policy accounts for the dynamics and capabilities of a heterogeneous set of agents and targets. In contrast to a majority of existing assignment schemes, this approach improves upon distance-based metrics for assignments by considering cost metrics that account for the underlying dynamics manifold. We provide a theoretical justification for the reformulation of this problem, and show that the minimizer of the dynamic assignment problem is equivalent to the minimizer of the associated Monge problem arising in optimal transport. We prove that by accounting for dynamics, we only require computing an assignment once over the operating lifetime --- significantly decreasing computational expense. Furthermore, we show that the cost benefits achieved by our approach increase as the swarm size increases, achieving almost 50\% cost reduction compared with distance-based metrics. We demonstrate our approach through simulation on several linear and linearized problems.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections