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Density-Driven Area Coverage for Nonholonomic Multi-Robot Systems with Safety Guarantee
Density-Driven Optimal Control (D2OC) provides a principled approach to distributing multi-robot teams over non-uniform spatial distributions. Applying D2OC to nonholonomic robots, however, creates a gap between safety constraints imposed on a reference motion and the physical inputs that determine the actual robot motion. We address this issue by enforcing the safety constraint directly on the robot's physical inputs while preserving the density-driven coverage objective. The proposed framework combines D2OC with a control barrier function safety filter through a feedback-linearizing look-ahe
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-19T00:56:40.000Z
First collected: 2026-09-23T12:01:45.602Z. This is not the publication date.