3 papers
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…
eess.SY2025
Decentralized Shepherding of Non-Cohesive Swarms Through Cluttered Environments via Deep Reinforcement Learning
Cristiana Punzo, Italo Napolitano, Cinzia Tomaselli +1
This paper investigates decentralized shepherding in cluttered environments, where a limited number of herders must guide a larger group of non-cohesive, diffusive targets toward a…