25 citations · 51 across the 12 of their papers we have counts for
12 papers
Leader-Follower Density Control of Multi-Agent Systems with Interacting Followers: Feasibility and Convergence Analysis
Beniamino Di Lorenzo, Gian Carlo Maffettone, Mario di Bernardo
We address density control problems for large-scale multi-agent systems in leader-follower settings, where a group of controllable leaders must steer a population of followers towa…
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…
Robust multi-scale leader-follower control of large multi-agent systems
Davide Salzano, Gian Carlo Maffettone, Mario di Bernardo
In many multi-agent systems of practical interest, such as traffic networks or crowd evacuation, control actions cannot be exerted on all agents. Instead, controllable leaders must…
Robust Macroscopic Density Control of Heterogeneous Multi-Agent Systems
Gian Carlo Maffettone, Davide Salzano, Mario di Bernardo
Modern applications, such as orchestrating the collective behavior of robotic swarms or traffic flows, require the coordination of large groups of agents evolving in unstructured e…
Bio-inspired density control of multi-agent swarms via leader-follower plasticity
Gian Carlo Maffettone, Alain Boldini, Mario di Bernardo +1
The design of control systems for the spatial self-organization of mobile agents is an open challenge across several engineering domains, including swarm robotics and synthetic bio…
A Continuification-Based Control Solution for Large-Scale Shepherding
Beniamino Di Lorenzo, Gian Carlo Maffettone, Mario di Bernardo
In this paper, we address the large-scale shepherding control problem using a continuification-based strategy. We consider a scenario in which a large group of follower agents (tar…
Leader-Follower Density Control of Spatial Dynamics in Large-Scale Multi-Agent Systems
Gian Carlo Maffettone, Alain Boldini, Maurizio Porfiri +1
We address the problem of controlling the density of a large ensemble of follower agents by acting on a group of leader agents that interact with them. Using coupled partial integr…
High-dimensional continuification control of large-scale multi-agent systems under limited sensing and perturbations
Gian Carlo Maffettone, Mario di Bernardo, Maurizio Porfiri
This paper investigates the robustness of a novel high-dimensional continuification control method for complex multi-agent systems. We begin by formulating a partial differential e…
Mixed Reality Environment and High-Dimensional Continuification Control for Swarm Robotics
Gian Carlo Maffettone, Lorenzo Liguori, Eduardo Palermo +2
Many new methodologies for the control of large-scale multi-agent systems are based on macroscopic representations of the emerging system dynamics, in the form of continuum approxi…
Continuification control of large-scale multiagent systems under limited sensing and structural perturbations
Gian Carlo Maffettone, Maurizio Porfiri, Mario di Bernardo
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, o…
Continuification-based control of large multiagent systems in a ring
Gian Carlo Maffettone, Alain Boldini, Mario di Bernardo +1
In this paper, we propose a method to control large-scale multiagent systems swarming in a ring. Specifically, we use a continuification-based approach that transforms the microsco…
Distributed control for geometric pattern formation of large-scale multirobot systems
Andrea Giusti, Gian Carlo Maffettone, Davide Fiore +2
Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, o…