Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that require consistent localization and mapping, we formalize the obstacle avoidance problem as a composite control barrier function constructed only from the online onboard range measurements. The proposed framework acts as a safety filter, modifying the acceleration references derived by the nominal position/velocity control loops, and is integrated into the PX4 autopilot stack. Experimental studies using a small multirotor aerial robot demonstrate the effectiveness and performance of the solution within dynamic maneuvering and unknown environments.


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    Titel :

    Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions


    Beteiligte:
    Misyats, Nazar (Autor:in) / Harms, Marvin (Autor:in) / Nissov, Morten (Autor:in) / Jacquet, Martin (Autor:in) / Alexis, Kostas (Autor:in)


    Erscheinungsdatum :

    14.05.2025


    Format / Umfang :

    1886004 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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