Gennaro Notomista

$α$-stability of Differentially Flat Systems with Application to Newton-Raphson Tracking Control for Vehicle Dynamics

Aadila Ali Sabry, Gennaro Notomista

This paper studies the $α$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $α$-stability, which is particularly amenable to characterize the ability of a system to track dynamic output reference signals. We consider systems …

$α$-stability of Differentially Flat Systems with Application to Newton-Raphson Tracking Control for Vehicle Dynamics

Aadila Ali Sabry, Gennaro Notomista

This paper studies the $α$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $α$-stability, which is particularly amenable to characterize the ability of a system to track dynamic output reference signals. We consider systems …

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Safe and Energy-Aware Decentralized PDE-Constrained Optimization-Based Control of Multi-UAVs for Persistent Wildfire Suppression

L.X. Niu, Gennaro Notomista

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 …

Safe and Energy-Aware Decentralized PDE-Constrained Optimization-Based Control of Multi-UAVs for Persistent Wildfire Suppression

L.X. Niu, Gennaro Notomista

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 …

“It Is Much Safer to Be Sparse than Connected”: Safe Control of Robotic Swarm Density Dynamics with PDE Optimization with State Constraints

L.X. Niu, Gennaro Notomista

This paper introduces a safety‐critical optimization‐based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the Fokker–Planck equation to a predefined target distribution. In contrast to traditional open‐loop state‐constrained optimal control …

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''It Is Much Safer to Be Sparse than Connected'': Safe Control of Robotic Swarm Density Dynamics with PDE-Optimization with State Constraints

L.X. Niu, Gennaro Notomista

This paper introduces a safety-critical optimization-based control strategy that leverages control Lyapunov and control barrier functions to guide the spatial density of robotic swarms governed by the Fokker-Planck equation to a predefined target distribution. In contrast to traditional open-loop state-constrained optimal control …

Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy

L.X. Niu, Andrew Nasif, Gennaro Notomista

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 …

Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy

L.X. Niu, Andrew Nasif, Gennaro Notomista

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 …

Optimization-Free Constrained Control with Guaranteed Recursive Feasibility: A CBF-Based Reference Governor Approach

Satoshi Nakano, Emanuele Garone, Gennaro Notomista

This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without online optimization. We formulate the reference update as a virtual control input for an augmented system, governed by a …

Optimization-Free Constrained Control with Guaranteed Recursive Feasibility: A CBF-Based Reference Governor Approach

Satoshi Nakano, Emanuele Garone, Gennaro Notomista

This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without online optimization. We formulate the reference update as a virtual control input for an augmented system, governed by a …

Optimization-based One-side Boundary Control of LWR Traffic Models

Eryn Vaid, Maria Teresa Chiri, Roberto Guglielmi, Gennaro Notomista

In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of controllers to stabilize the system to …

Optimization-based One-side Boundary Control of LWR Traffic Models

Eryn Vaid, Maria Teresa Chiri, Roberto Guglielmi, Gennaro Notomista

In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of controllers to stabilize the system to …