1 citations · 1 across the 4 of their papers we have counts for
5 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…
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…
''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…
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…
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…