Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866910247225917440 |
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| author | Niu, Longchen Nasif, Andrew Notomista, Gennaro |
| author_facet | Niu, Longchen Nasif, Andrew Notomista, Gennaro |
| contents | This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Partial Differential Equation (PDE) at the density level. Control Lyapunov and control barrier functions are integrated with PDEs to enforce target density tracking, obstacle region avoidance, and energy sufficiency over multiple charging cycles. The resulting quadratic program enables fast in-the-loop implementation that adjusts commands in real-time. Multi-robot experiment and extensive simulations were conducted to demonstrate the effectiveness of the controller under localization and motion uncertainties. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_15524 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy Niu, Longchen Nasif, Andrew Notomista, Gennaro Systems and Control Robotics This paper presents a novel density control framework for multi-robot systems with spatial safety and energy sustainability guarantees. Stochastic robot motion is encoded through the Fokker-Planck Partial Differential Equation (PDE) at the density level. Control Lyapunov and control barrier functions are integrated with PDEs to enforce target density tracking, obstacle region avoidance, and energy sufficiency over multiple charging cycles. The resulting quadratic program enables fast in-the-loop implementation that adjusts commands in real-time. Multi-robot experiment and extensive simulations were conducted to demonstrate the effectiveness of the controller under localization and motion uncertainties. |
| title | Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2604.15524 |