Robust optimal density control of robotic swarms

DOI10.1016/J.AUTOMATICA.2025.112218MaRDI QIDQ6993281zbMATH OpenFDO

Authors Carlo Sinigaglia, Andrea Manzoni, Francesco Braghin, Spring Berman

Publication date 25 April 2025

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.AUTOMATICA.2025.112218

zbMATH Keywords

bilinear control systemsdensity controldistributed parameter systemsfinite element methodmean-field modelsoptimal control

Mathematics Subject Classification ID

Multi-agent systems (93A16) Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Optimal stochastic control (93E20)

Cites work

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• PDE-based optimization for stochastic mapping and coverage strategies using robotic ensembles
• Steady-State and Periodic Exponential Turnpike Property for Optimal Control Problems in Hilbert Spaces
• The turnpike property in finite-dimensional nonlinear optimal control
• Transporting Robotic Swarms Via Mean-Field Feedback Control

Cited in

(3)

• A continuification-based control solution for large-scale shepherding
• Distributed fault-tolerant control for a class of uncertain cascaded ODE-PDE multi-agent systems
• Broadcast herdability of stochastic swarm densities

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