83 citations · 99 across the 30 of their papers we have counts for
37 papers
PDE-Constrained MPC of Motility-Induced Phase Separation in Robotic Swarms: The Role of Model Fidelity and Local Information
Longchen Niu, Gennaro Notomista
Motility-induced phase separation enables swarm aggregation to be regulated without prescribing a target spatial distribution. This paper develops a partial differential equation-c…
-stability of Differentially Flat Systems with Application to Newton-Raphson Tracking Control for Vehicle Dynamics
Aadila Ali Sabry, Gennaro Notomista
This paper studies the -stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of -stability, which is pa…
Safe and Energy-Aware Decentralized PDE-Constrained Optimization-Based Control of Multi-UAVs for Persistent Wildfire Suppression
Longchen Niu, Gennaro Notomista
This paper presents a safe and energy-aware optimization-based control framework for multi-UAV wildfire suppression under localization and motion uncertainties. We first develop a…
Optimization-based One-side Boundary Control of LWR Traffic Models
Eryn Vaid, Maria Teresa Chiri, Roberto Guglielmi +1
In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are ach…
''It Is Much Safer to Be Sparse than Connected'': Safe Control of Robotic Swarm Density Dynamics with PDE-Optimization with State Constraints
Longchen Niu, Gennaro Notomista
This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic sw…
Optimization-Free Constrained Control with Guaranteed Recursive Feasibility: A CBF-Based Reference Governor Approach
Satoshi Nakano, Emanuele Garone, Gennaro Notomista
This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without…
Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
Longchen Niu, Andrew Nasif, Gennaro Notomista
This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through t…
Disentangled Control of Multi-Agent Systems
Ruoyu Lin, Gennaro Notomista, Magnus Egerstedt
This paper develops a general framework with convergence guarantees for multi-agent control synthesis, which applies to a wide range of problems, including those with time-varying…
Safe Decentralized Density Control of Multi-Robot Systems using PDE-Constrained Optimization with State Constraints
Longchen Niu, Gennaro Notomista
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralize…
Music-driven Robot Swarm Painting
Jingde Cheng, Gennaro Notomista
This paper proposes a novel control framework for robotic swarms capable of turning a musical input into a painting. The approach connects the two artistic domains, music and paint…
Value Iteration for Learning Concurrently Executable Robotic Control Tasks
Sheikh A. Tahmid, Gennaro Notomista
Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work propo…
Energy-Aware Task Allocation for Teams of Multi-mode Robots
Takumi Ito, Riku Funada, Mitsuji Sampei +1
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to…
Boundary Control for Stability and Invariance of Traffic Flow Dynamics: A Convex Optimization Approach
Maria Teresa Chiri, Roberto Guglielmi, Gennaro Notomista
In this letter we propose an optimization-based boundary controller for traffic flow dynamics capable of achieving both stability and invariance conditions. The approach is based o…
Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions
Gennaro Notomista, Gary P. T. Choi, Matteo Saveriano
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot worksp…
Extended Set-based Tasks for Multi-task Execution and Prioritization
Gennaro Notomista, Mario Selvaggio, Francesca Pagano +4
The ability of executing multiple tasks simultaneously is an important feature of redundant robotic systems. As a matter of fact, complex behaviors can often be obtained as a resul…
A Constrained-Optimization Approach to the Execution of Prioritized Stacks of Learned Multi-Robot Tasks
Gennaro Notomista
This paper presents a constrained-optimization formulation for the prioritized execution of learned robot tasks. The framework lends itself to the execution of tasks encoded by val…
What Can Robots Teach Us About The COVID-19 Pandemic? Interactive Demonstrations of Epidemiological Models Using a Swarm of Brushbots
Gennaro Notomista, Siddharth Mayya
This paper describes the methodology and outcomes of a series of educational events conducted in 2021 which leveraged robot swarms to educate high-school and university students ab…
Resilience and Energy-Awareness in Constraint-Driven-Controlled Multi-Robot Systems
Gennaro Notomista
In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness…
Safe Reinforcement Learning Using Robust Control Barrier Functions
Yousef Emam, Gennaro Notomista, Paul Glotfelter +2
Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, s…
Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions
Gennaro Notomista, Matteo Saveriano
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategi…
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems
Gennaro Notomista, Siddharth Mayya, Yousef Emam +4
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online f…
Data-Driven Robust Barrier Functions for Safe, Long-Term Operation
Yousef Emam, Paul Glotfelter, Sean Wilson +2
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as…
A Safety and Passivity Filter for Robot Teleoperation Systems
Gennaro Notomista, Xiaoyi Cai
In this paper, we present a way of enforcing safety and passivity properties of robot teleoperation systems, where a human operator interacts with a dynamical system modeling the r…
Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions
Yousef Emam, Gennaro Notomista, Paul Glotfelter +1
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturba…