Distributed Model-Based Diffusion: Finite Horizon Contraction under Bounded Delay

2026-08-27

AI Summary

本文提出了一种基于模型的分布式扩散方法，用于解决多智能体系统中的非线性、非凸和高维度优化问题，并证明了该方法在通信延迟下的有效性和鲁棒性。

Abstract

Simultaneously optimizing the trajectories of multiple agents is a challenging problem plagued by nonlinearity, nonconvexity, and the curse of dimensionality. A collection of interacting aerial vehicles or self-driving cars in an intersection are examples of complex multi-agent systems that remain difficult to solve without many simplifying assumptions. The presence of communication latency between agents further increases the difficulty. In this paper, we analyze Distributed Model-Based Diffusion: a sampling-based Model-Predictive Control method suitable for highly nonlinear, nonconvex, nonsmooth, multi-agent systems. We prove contraction and robustness to latency for multi-agent, nonconvex problems, showing applicability to real-world constraints. We test the algorithm on a circleswap task, a cooperative medium-fidelity driving task, and in an aerial combat scenario. Despite the addition of latency, our algorithm improves circleswap makespan by 31% and increases aerial combat win rate by 25% compared to centralized Model-Based Diffusion.

Problem

• multi-agent systems
• nonlinearity
• nonconvexity
• communication latency

Innovation

• Distributed Model-Based Diffusion
• Model-Predictive Control
• Communication Latency
• Multi-Agent Systems
• Contraction and Robustness