A PDE-based optimization controller with CLF/CBF safety guarantees steers robotic swarm density to targets in closed loop, with sparse configurations proving easier to keep safe than connected ones.
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''It Is Much Safer to Be Sparse than Connected'': Safe Control of Robotic Swarm Density Dynamics with PDE-Optimization with State Constraints
A PDE-based optimization controller with CLF/CBF safety guarantees steers robotic swarm density to targets in closed loop, with sparse configurations proving easier to keep safe than connected ones.