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.
A fokker–planck control framework for multidimensional stochastic processes,
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Decentralized density control for multi-robot systems using PDE-constrained optimization ensures global safety from local constraints with reduced computation and communication needs.
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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.