Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness
This provides a safety enhancement for multi-robot systems, particularly in aerial robotics, but is incremental as it builds on existing control and planning methods.
The paper tackled the problem of ensuring collision-free maneuvers for teams of quadrotors by introducing Safety Barrier Certificates that modify trajectories minimally to avoid collisions, with experimental validation on five quadrotors showing effectiveness.
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.