''It Is Much Safer to Be Sparse than Connected'': Safe Control of Robotic Swarm Density Dynamics with PDE-Optimization with State Constraints
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866918476760743936 |
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| author | Niu, Longchen Notomista, Gennaro |
| author_facet | Niu, Longchen Notomista, Gennaro |
| contents | 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 swarms governed by the Fokker-Planck equation to a predefined target distribution. In contrast to traditional open-loop state-constrained optimal control strategies, the proposed approach operates in closed-loop, and a Voronoi-based variant further enables distributed deployments. Theoretical guarantees of safety are derived, and numerical simulations demonstrate the performance of the proposed controllers. Finally, a multi-robot experiment showcases the real-world applicability of the proposed controllers under localization and motion noises, illustrating how it is much easier for a sparse swarm to satisfy safety specifications than it is for a densely packed one. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_15516 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | ''It Is Much Safer to Be Sparse than Connected'': Safe Control of Robotic Swarm Density Dynamics with PDE-Optimization with State Constraints Niu, Longchen Notomista, Gennaro Systems and Control 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 swarms governed by the Fokker-Planck equation to a predefined target distribution. In contrast to traditional open-loop state-constrained optimal control strategies, the proposed approach operates in closed-loop, and a Voronoi-based variant further enables distributed deployments. Theoretical guarantees of safety are derived, and numerical simulations demonstrate the performance of the proposed controllers. Finally, a multi-robot experiment showcases the real-world applicability of the proposed controllers under localization and motion noises, illustrating how it is much easier for a sparse swarm to satisfy safety specifications than it is for a densely packed one. |
| title | ''It Is Much Safer to Be Sparse than Connected'': Safe Control of Robotic Swarm Density Dynamics with PDE-Optimization with State Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.15516 |