# Cooperative Path Integral Control for Stochastic Multi-Agent Systems

arXiv: https://arxiv.org/abs/2009.14775 · HTML: https://mlsanity.com/paper/2009.14775/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Sep 2020.

## Built on by (most cited first, 2 of 2)

- [Distributed Algorithms for Linearly-Solvable Optimal Control in Networked Multi-Agent Systems](https://mlsanity.com/paper/2102.09104/) (2021)
- [Learning Stochastic Dynamical Systems with Structured Noise](https://mlsanity.com/paper/2503.01077/) (2025)

## Abstract (arXiv)

A distributed stochastic optimal control solution is presented for cooperative multi-agent systems. The network of agents is partitioned into multiple factorial subsystems, each of which consists of a central agent and neighboring agents. Local control actions that rely only on agents' local observations are designed to optimize the joint cost functions of subsystems. When solving for the local control actions, the joint optimality equation for each subsystem is cast as a linear partial differential equation and solved using the Feynman-Kac formula. The solution and the optimal control action are then formulated as path integrals and approximated by a Monte-Carlo method. Numerical verification is provided through a simulation example consisting of a team of cooperative UAVs.