A Fokker-Planck PDE-constrained quadratic program integrates control Lyapunov and barrier functions to achieve safe, energy-sustainable density tracking for multi-robot systems over long durations.
Task persistification for robots with control-dependent energy dynamics,
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Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
A Fokker-Planck PDE-constrained quadratic program integrates control Lyapunov and barrier functions to achieve safe, energy-sustainable density tracking for multi-robot systems over long durations.