Published May 2017
| Submitted
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Safe certificate-based maneuvers for teams of quadrotors using differential flatness
- Creators
- Wang, Li
- Ames, Aaron D.
- Egerstedt, Magnus
Abstract
Safety Barrier Certificates that ensure collision-free maneuvers for teams of differential flatness-based quadrotors are presented in this paper. Synthesized with control barrier functions, the certificates are used to modify the nominal trajectory in a minimally invasive way to avoid collisions. The proposed collision avoidance strategy complements existing flight control and planning algorithms by providing trajectory modifications with provable safety guarantees. The effectiveness of this strategy is supported both by the theoretical results and experimental validation on a team of five quadrotors.
Additional Information
© 2017 IEEE. The work by the first and third authors was sponsored by Grant No. 1544332 from the U.S. National Science Foundation, and the work of the second author was sponsored by Grant No. 1239055 from the U.S. National Science Foundation.Attached Files
Submitted - 1702.01075.pdf
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Additional details
- Eprint ID
- 79319
- Resolver ID
- CaltechAUTHORS:20170725-082128250
- CNS-1544332
- NSF
- CNS-1239055
- NSF
- Created
-
2017-07-25Created from EPrint's datestamp field
- Updated
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2021-11-15Created from EPrint's last_modified field