Derives necessary and sufficient feasibility conditions for target density in leader-follower systems with follower interactions, plus a locally stabilizing feedback law with explicit basin of attraction.
Robust optimal density control of robotic swarms,
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Presents a PDE-constrained optimization framework for safe and energy-aware multi-robot density control using Fokker-Planck equation integrated with CLF and CBF solved as a quadratic program.
Decentralized density control for multi-robot systems using PDE-constrained optimization ensures global safety from local constraints with reduced computation and communication needs.
citing papers explorer
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Leader-Follower Density Control of Multi-Agent Systems with Interacting Followers: Feasibility and Convergence Analysis
Derives necessary and sufficient feasibility conditions for target density in leader-follower systems with follower interactions, plus a locally stabilizing feedback law with explicit basin of attraction.
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Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
Presents a PDE-constrained optimization framework for safe and energy-aware multi-robot density control using Fokker-Planck equation integrated with CLF and CBF solved as a quadratic program.
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Safe Decentralized Density Control of Multi-Robot Systems using PDE-Constrained Optimization with State Constraints
Decentralized density control for multi-robot systems using PDE-constrained optimization ensures global safety from local constraints with reduced computation and communication needs.