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.
Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions
2025-05-14
1886004 byte
Conference paper
Electronic Resource
English
Control Barrier Functions in Multirotors: A Safety Filter for Obstacle Avoidance
Springer Verlag | 2024
|L1 Adaptive Controller for Attitude Control of Multirotors
British Library Conference Proceedings | 2012
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