6 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 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…
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…
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…