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Prajwal Vijay

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Preprint Sep 2026

Geometric Coherence via Weighted Matching for 3D Heterogeneous Multi-Agent Reach-Avoid Games

We study assignment quality in 3D heterogeneous multi-agent reach-avoid games and identify a recurring failure mode of cardinality-only matching in geometrically structured scenarios, which we term \emph{Geometric Sprawl}. In these cases, multiple maximum-cardinality assignments are available, but some induce spatially...

Prajwal Vijay · 0 citations

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