3 papers
cs.RO2026
Online Learning-Enhanced High Order Adaptive Safety Control
Lishuo Pan, Mattia Catellani, Thales C. Silva +2
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have rec…
cs.RO2025
HMPCC: Human-Aware Model Predictive Coverage Control
Mattia Catellani, Marta Gabbi, Lorenzo Sabattini
We address the problem of coordinating a team of robots to cover an unknown environment while ensuring safe operation and avoiding collisions with non-cooperative agents. Tradition…
cs.RO2025
Robust Trajectory Generation and Control for Quadrotor Motion Planning with Field-of-View Control Barrier Certification
Lishuo Pan, Mattia Catellani, Lorenzo Sabattini +1
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distribute…