{"id":"https://openalex.org/W7207791006","doi":"https://doi.org/10.21203/rs.3.rs-10816173/v1","title":"Constrained Multi-Agent Optimal Control for Football Tactical Decision Support: Analysis, Solver Verification, and Reproducible Scenario Experiments","display_name":"Constrained Multi-Agent Optimal Control for Football Tactical Decision Support: Analysis, Solver Verification, and Reproducible Scenario Experiments","publication_year":2026,"publication_date":"2026-09-03","ids":{"openalex":"https://openalex.org/W7207791006","doi":"https://doi.org/10.21203/rs.3.rs-10816173/v1"},"language":"en","primary_location":{"id":"doi:10.21203/rs.3.rs-10816173/v1","doi":"https://doi.org/10.21203/rs.3.rs-10816173/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-10816173/v1","pdf_url":"https://www.researchsquare.com/article/rs-10816173/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.researchsquare.com/article/rs-10816173/latest.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012158987","display_name":"Abbes Kadyri","orcid":"https://orcid.org/0000-0001-6065-4856","observed_orcids":["https://orcid.org/0000-0001-6065-4856"]},"institutions":[{"id":"https://openalex.org/I4210125507","display_name":"Chouaib Doukkali University","ror":"https://ror.org/036kgyt43","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210125507"]}],"countries":["MA"],"is_corresponding":true,"raw_author_name":"Abbes Kadyri","raw_affiliation_strings":["Chouaib Doukkali University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chouaib Doukkali University","institution_ids":["https://openalex.org/I4210125507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5149478502","display_name":"Abdelfettah Belkahla","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210125507","display_name":"Chouaib Doukkali University","ror":"https://ror.org/036kgyt43","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210125507"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Abdelfettah Belkahla","raw_affiliation_strings":["Chouaib Doukkali University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chouaib Doukkali University","institution_ids":["https://openalex.org/I4210125507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5149591384","display_name":"Otmane Bencheihb","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210125507","display_name":"Chouaib Doukkali University","ror":"https://ror.org/036kgyt43","country_code":"MA","type":"education","lineage":["https://openalex.org/I4210125507"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Otmane Bencheihb","raw_affiliation_strings":["Chouaib Doukkali University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chouaib Doukkali University","institution_ids":["https://openalex.org/I4210125507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5012158987"],"corresponding_institution_ids":["https://openalex.org/I4210125507"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10157","display_name":"Sports Performance and Training","score":0.7279999852180481,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10157","display_name":"Sports Performance and Training","score":0.7279999852180481,"subfield":{"id":"https://openalex.org/subfields/2732","display_name":"Orthopedics and Sports Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.08900000154972076,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11674","display_name":"Sports Analytics and Performance","score":0.021900000050663948,"subfield":{"id":"https://openalex.org/subfields/2002","display_name":"Economics and Econometrics"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/constrained-optimal-control","display_name":"constrained optimal control","score":0.8159999847412109},{"id":"https://openalex.org/keywords/pontryagin-s-maximum-principle","display_name":"Pontryagin maximum principle","score":0.8539999723434448},{"id":"https://openalex.org/keywords/adjoint-method","display_name":"adjoint method","score":0.777999997138977},{"id":"https://openalex.org/keywords/tactical-decision-support","display_name":"tactical decision support","score":0.6639999747276306}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8141999840736389},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.7166000008583069},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6104000210762024},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5792999863624573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5428000092506409},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.47519999742507935},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4733999967575073},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.4562999904155731},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4417000114917755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43939998745918274},{"id":"https://openalex.org/C2778444522","wikidata":"https://www.wikidata.org/wiki/Q1081491","display_name":"Football","level":2,"score":0.41670000553131104},{"id":"https://openalex.org/C89109886","wikidata":"https://www.wikidata.org/wiki/Q1535924","display_name":"Trust region","level":3,"score":0.3788999915122986},{"id":"https://openalex.org/C24872484","wikidata":"https://www.wikidata.org/wiki/Q126818","display_name":"Dimensionless quantity","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33230000734329224},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2773999869823456},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.21203/rs.3.rs-10816173/v1","doi":"https://doi.org/10.21203/rs.3.rs-10816173/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-10816173/v1","pdf_url":"https://www.researchsquare.com/article/rs-10816173/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"}],"best_oa_location":{"id":"doi:10.21203/rs.3.rs-10816173/v1","doi":"https://doi.org/10.21203/rs.3.rs-10816173/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-10816173/v1","pdf_url":"https://www.researchsquare.com/article/rs-10816173/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7207791006.pdf","grobid_xml":"https://content.openalex.org/works/W7207791006.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W1630241696","https://openalex.org/W2160643434","https://openalex.org/W2287065228","https://openalex.org/W2492629073","https://openalex.org/W2514295870","https://openalex.org/W2567728646","https://openalex.org/W2977693060","https://openalex.org/W3179399922","https://openalex.org/W3185478105","https://openalex.org/W4281664351","https://openalex.org/W4301014524","https://openalex.org/W4388626369","https://openalex.org/W4408949755","https://openalex.org/W4410875237","https://openalex.org/W7162437825"],"related_works":["https://openalex.org/W7165382949","https://openalex.org/W3012929716","https://openalex.org/W283203088","https://openalex.org/W7042247626","https://openalex.org/W6903143672","https://openalex.org/W3164631379","https://openalex.org/W7220940825","https://openalex.org/W7097305222","https://openalex.org/W2754199973","https://openalex.org/W2018051026"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"work":[2],"develops":[3],"a":[4,60,74,80,102,107,160],"constrained":[5],"multi-agent":[6],"optimal-control":[7],"framework":[8,157],"for":[9,70,163],"football":[10],"tactical":[11],"planning,":[12],"where":[13],"player":[14],"positions":[15],"are":[16,53,120],"modeled":[17],"as":[18,23],"states":[19],"and":[20,39,59,106,117,125,142,155,158],"admissible":[21],"velocities":[22],"controls.":[24],"A":[25],"dimensionless":[26],"Bolza":[27],"functional":[28],"combines":[29],"territorial":[30],"control,":[31],"defensive":[32,140],"exposure,":[33,141],"compactness,":[34],"pressing":[35,138],"coverage,":[36],"movement":[37,143],"effort,":[38],"terminal":[40],"formation":[41],"accuracy.":[42],"Existence":[43],"of":[44],"an":[45,64,98],"optimal":[46],"control":[47],"is":[48,68,149],"established,":[49],"first-order":[50],"optimality":[51],"conditions":[52],"derived":[54],"using":[55],"Pontryagin\u2019s":[56],"Minimum":[57],"Principle,":[58],"time-discrete":[61],"adjoint":[62],"with":[63,166],"Armijo":[65],"projected-gradient":[66],"algorithm":[67],"employed":[69],"numerical":[71,129],"solution.":[72],"In":[73],"reproducible":[75,161],"11-player":[76],"synthetic":[77,147],"benchmark":[78,148],"on":[79],"105":[81],"\u00d7":[82],"68":[83],"m":[84],"pitch,":[85],"the":[86,90,111,153],"optimized":[87],"strategy":[88],"reduces":[89],"objective":[91],"from":[92],"0.20935":[93],"to":[94,97,151],"0.18511,":[95],"corresponding":[96],"11.58%":[99],"improvement":[100,109],"over":[101,110],"feasible":[103],"linear":[104],"transition":[105],"38.26%":[108],"static":[112],"compact":[113],"baseline.":[114],"All":[115],"speed":[116],"pitch":[118],"constraints":[119],"satisfied,":[121],"while":[122],"gradient":[123],"verification":[124],"grid-refinement":[126],"tests":[127],"confirm":[128],"consistency.":[130],"Priority":[131],"experiments":[132],"further":[133],"reveal":[134],"clear":[135],"trade-offs":[136],"between":[137],"intensity,":[139],"effort.":[144],"The":[145],"proposed":[146],"intended":[150],"validate":[152],"mathematical":[154],"computational":[156],"provide":[159],"basis":[162],"future":[164],"calibration":[165],"real":[167],"tracking":[168],"data.":[169]},"counts_by_year":[],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2026-09-04T00:00:00"}
