Safe and Energy-Aware Decentralized PDE-Constrained Optimization-Based Control of Multi-UAVs for Persistent Wildfire Suppression
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866911677501407232 |
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| author | Niu, Longchen Notomista, Gennaro |
| author_facet | Niu, Longchen Notomista, Gennaro |
| contents | This paper presents a safe and energy-aware optimization-based control framework for multi-UAV wildfire suppression under localization and motion uncertainties. We first develop a centralized density-based controller that couples UAV motion and water deployment in a wildfire-specific control Lyapunov function. This framework is then extended to a decentralized setting suitable for large-scale operations using only local information. The controllers use control barrier function constraints to enforce both danger zone avoidance and the ability to reach a charging region. Simulations and real quadcopter experiments demonstrate the controller's effectiveness in fire suppression while preserving safety and energy sufficiency over multiple charge cycles. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_12779 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Safe and Energy-Aware Decentralized PDE-Constrained Optimization-Based Control of Multi-UAVs for Persistent Wildfire Suppression Niu, Longchen Notomista, Gennaro Systems and Control This paper presents a safe and energy-aware optimization-based control framework for multi-UAV wildfire suppression under localization and motion uncertainties. We first develop a centralized density-based controller that couples UAV motion and water deployment in a wildfire-specific control Lyapunov function. This framework is then extended to a decentralized setting suitable for large-scale operations using only local information. The controllers use control barrier function constraints to enforce both danger zone avoidance and the ability to reach a charging region. Simulations and real quadcopter experiments demonstrate the controller's effectiveness in fire suppression while preserving safety and energy sufficiency over multiple charge cycles. |
| title | Safe and Energy-Aware Decentralized PDE-Constrained Optimization-Based Control of Multi-UAVs for Persistent Wildfire Suppression |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2605.12779 |