14 papers
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…
-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…
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…
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…
''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…