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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    Title :

    Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions


    Contributors:


    Publication date :

    2025-05-14


    Size :

    1886004 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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