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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 s
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