Derives necessary and sufficient feasibility conditions for target density in leader-follower systems with follower interactions, plus a locally stabilizing feedback law with explicit basin of attraction.
Robust optimal density control of robotic swarms
3 Pith papers cite this work. Polarity classification is still indexing.
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Decentralized density control for multi-robot systems using PDE-constrained optimization ensures global safety from local constraints with reduced computation and communication needs.