Safe certificate-based maneuvers for teams of quadrotors using differential flatness. Wang, L., Ames, A. D., & Egerstedt, M. In 2017 IEEE International Conference on Robotics and Automation (ICRA), pages 3293–3298, May, 2017.
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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.
@inproceedings{wang_safe_2017,
	title = {Safe certificate-based maneuvers for teams of quadrotors using differential flatness},
	doi = {10.1109/ICRA.2017.7989375},
	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.},
	booktitle = {2017 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
	author = {Wang, Li and Ames, Aaron D. and Egerstedt, Magnus},
	month = may,
	year = {2017},
	keywords = {Collision avoidance, Minimally invasive surgery, Planning, Propellers, Safety, Shape, Trajectory, air safety, aircraft control, autonomous aerial vehicles, collision avoidance, collision avoidance strategy, collision-free maneuver, control barrier function, differential flatness-based quadrotors, flight control, flight planning algorithm, helicopters, mobile robots, multi-robot systems, nominal trajectory, provable safety guarantee, quadrotor team, safe certificate-based maneuver, safety barrier certificate, trajectory control, trajectory modification},
	pages = {3293--3298},
}
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