Author

Seth Golembeski

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Case report Open access Aug 2026

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

This paper analyzes Distributed Model-Based Diffusion: a sampling-based Model-Predictive Control method suitable for highly nonlinear, nonconvex, nonsmooth, multi-agent systems and proves contraction and robustness to latency for multi-agent, nonconvex problems, showing applicability to real-world constraints.

Seth Golembeski, Keith L. Gibson, Alexander Gross et al. · 0 citations