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Safe Drone Flight with Time-Varying Backup Controllers

Singletary, Andrew and Swann, Aiden and Jimenez Rodriguez, Ivan Dario and Ames, Aaron D. (2022) Safe Drone Flight with Time-Varying Backup Controllers. . (Unpublished)

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The weight, space, and power limitations of small aerial vehicles often prevent the application of modern control techniques without significant model simplifications. Moreover, high-speed agile behavior, such as that exhibited in drone racing, make these simplified models too unreliable for safety-critical control. In this work, we introduce the concept of time-varying backup controllers (TBCs): user-specified maneuvers combined with backup controllers that generate reference trajectories which guarantee the safety of nonlinear systems. TBCs reduce conservatism when compared to traditional backup controllers and can be directly applied to multi-agent coordination to guarantee safety. Theoretically, we provide conditions under which TBCs strictly reduce conservatism, describe how to switch between several TBC's and show how to embed TBCs in a multi-agent setting. Experimentally, we verify that TBCs safely increase operational freedom when filtering a pilot's actions and demonstrate robustness and computational efficiency when applied to decentralized safety filtering of two quadrotors.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Singletary, Andrew0000-0001-6635-4256
Jimenez Rodriguez, Ivan Dario0000-0001-9065-5227
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This work is supported by AeroVironment, NSF CPS award #1932091, and BP.
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20221219-234045414
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:118463
Deposited By: George Porter
Deposited On:21 Dec 2022 00:51
Last Modified:02 Jun 2023 01:26

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