Multi-Agent Deferred-Decision Trajectory Optimization with Anytime-Valid Target Retention for Moving Candidates
We study multi-agent terminal interception when one of several moving candidates is the unknown target and both target identity and candidate terminal locations are uncertain. We develop a receding-horizon deferred-decision trajectory optimization (DDTO) controller that combines conformal terminal-location prediction, sequential candidate rejection, capacity-constrained assignment, and candidate-contingent planning. Under exchangeability conditions for terminal and identity residuals, with predictable querying, we establish fixed-time terminal-location coverage and anytime-valid target retention. At the final replan, when one control step remains, we bound the joint probability that a tig...
| Authors | Farbod Siahkali, Mengxue Hou, Vijay Gupta |
|---|---|
| Primary category | eess.SY |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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