Pith Number

pith:JWXODRYZ

pith:2026:JWXODRYZ34GQ2ZOT2PSY2ZZBZ7

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Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy

Andrew Nasif, Gennaro Notomista, Longchen Niu

A quadratic program fuses PDE density models with Lyapunov and barrier functions to keep robot groups on target, safe from obstacles, and energy-sufficient across repeated charging cycles.

arxiv:2604.15524 v2 · 2026-04-16 · eess.SY · cs.RO · cs.SY

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\usepackage{pith}
\pithnumber{JWXODRYZ34GQ2ZOT2PSY2ZZBZ7}

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4 Citations open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Control Lyapunov and control barrier functions are integrated with PDEs to enforce target density tracking, obstacle region avoidance, and energy sufficiency over multiple charging cycles. The resulting quadratic program enables fast in-the-loop implementation that adjusts commands in real-time.

C2weakest assumption

The stochastic robot motion is accurately encoded through the Fokker-Planck PDE at the density level, and the quadratic program remains feasible and solvable in real time under localization and motion uncertainties while preserving the safety and energy guarantees.

C3one line summary

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.

Cited by

1 paper in Pith

Safe and Energy-Aware Decentralized PDE-Constrained Optimization-Based Control of Multi-UAVs for Persistent Wildfire Suppression

Receipt and verification

First computed	2026-05-25T02:01:20.486223Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4daee1c719df0d0d65d3d3e58d6721cfd18465b0a5a4e6fbf919fe5fb0a0e37e

Aliases

arxiv: 2604.15524 · arxiv_version: 2604.15524v2 · doi: 10.48550/arxiv.2604.15524 · pith_short_12: JWXODRYZ34GQ · pith_short_16: JWXODRYZ34GQ2ZOT · pith_short_8: JWXODRYZ

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/JWXODRYZ34GQ2ZOT2PSY2ZZBZ7 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 4daee1c719df0d0d65d3d3e58d6721cfd18465b0a5a4e6fbf919fe5fb0a0e37e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f3dfd3017a2efd0e12a2af26df83df3034d681d9b455e07a7514273b16b7c544",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-04-16T21:07:36Z",
    "title_canon_sha256": "2b8c7a5cbc8979a750165131178613357667c97ce6474522babadff4a859cc45"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.15524",
    "kind": "arxiv",
    "version": 2
  }
}