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Optimal transport over nonlinear systems via infinitesimal generators on graphs
2018
Journal of Computational Dynamics
We present a set-oriented graph-based computational framework for continuous-time optimal transport over nonlinear dynamical systems. We recover provably optimal control laws for steering a given initial distribution in phase space to a final distribution in prescribed finite time for the case of non-autonomous nonlinear control-affine systems, while minimizing a quadratic control cost. The resulting control law can be used to obtain approximate feedback laws for individual agents in a swarm
doi:10.3934/jcd.2018001
fatcat:2l6745fq3zahhjg5px6j2bqz24