# Entropic Model Predictive Optimal Transport for Underactuated Linear Systems

arXiv: https://arxiv.org/abs/2308.07599 · HTML: https://mlsanity.com/paper/2308.07599/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Aug 2023.

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

- [Sliced Wasserstein Steering between Gaussian Measures](https://mlsanity.com/paper/2604.22807/) (2026)
- [Distribution Steering via Sliced Optimal Transport Control](https://mlsanity.com/paper/2608.12828/) (2026)

## Abstract (arXiv)

This letter investigates dynamical optimal transport of underactuated linear systems over an infinite time horizon. In our previous work, we proposed to integrate model predictive control and the celebrated Sinkhorn algorithm to perform efficient dynamical transport of agents. However, the proposed method requires the invertibility of input matrices, which severely limits its applicability. To resolve this issue, we extend the method to (possibly underactuated) controllable linear systems. In addition, we ensure the convergence properties of the method for general controllable linear systems. The effectiveness of the proposed method is demonstrated by a numerical example.