4 papers · 1 filter
On Distributed Control of Continuum Swarms: Local Controllers as Differential Operators
Max Emerick, Saroj Prasad Chhatoi, Bassam Bamieh
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formaliza…
Optimal Assignment and Motion Control in Two-Class Continuum Swarms
Max Emerick, Stacy Patterson, Bassam Bamieh
We consider optimal swarm control problems where two different classes of agents are present. Continuum idealizations of large-scale swarms are used where the dynamics describe the…
Incompressible Optimal Transport and Applications in Fluid Mixing
Max Emerick, Bassam Bamieh
The problem of incompressible fluid mixing arises in numerous engineering applications and has been well-studied over the years, yet many open questions remain. This paper aims to…
Causal Tracking of Distributions in Wasserstein Space: A Model Predictive Control Scheme
Max Emerick, Jared Jonas, Bassam Bamieh
We consider a problem of optimal swarm tracking which can be formulated as a tracking problem for distributions in the Wasserstein space. Optimal solutions to this problem are non-…