Safe and Energy-Aware Multi-Robot Density Control
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Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
arXiv:2604.15524v3 Announce Type: replace Abstract: 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.