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math.OC2026
Safe Leader-Follower Density Control via Higher-Order Mean-Field Control Barrier Functions
Cinzia Tomaselli, Mario di Bernardo
Mean-field control barrier functions (MF-CBFs) enforce safety of large-scale multi-agent systems at the level of densities, but existing formulations require the control to act dir…
eess.SY2026
Multi-robot obstacle-aware shepherding of non-cohesive target agents
Cinzia Tomaselli, Stefano Covone, Andreagiovanni Reina +1
This paper presents a novel control strategy for multi-agent shepherding of non-cohesive targets in obstacle-rich environments. Unlike previous approaches that assume cohesive floc…
eess.SY2026
Mean-field control barrier functions for stochastic multi-agent systems
Cinzia Tomaselli, Gian Carlo Maffettone, Samy Wu Fung +2
Many applications involving multi-agent systems require fulfilling safety constraints. Control barrier functions offer a systematic framework to enforce forward invariance of safet…