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Safe certificate-based maneuvers for teams of quadrotors using differential flatness

Wang, Li and Ames, Aaron D. and Egerstedt, Magnus (2017) Safe certificate-based maneuvers for teams of quadrotors using differential flatness. In: 2017 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 3293-3298. ISBN 978-1-5090-4633-1. http://resolver.caltech.edu/CaltechAUTHORS:20170725-082128250

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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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2017.7989375DOIArticle
http://ieeexplore.ieee.org/document/7989375/PublisherArticle
https://arxiv.org/abs/1702.01075arXivDiscussion Paper
Additional Information:© 2017 IEEE. The work by the first and third authors was sponsored by Grant No. 1544332 from the U.S. National Science Foundation, and the work of the second author was sponsored by Grant No. 1239055 from the U.S. National Science Foundation.
Funders:
Funding AgencyGrant Number
NSFCNS-1544332
NSFCNS-1239055
Subject Keywords:Safety, Trajectory, Planning, Shape, Collision avoidance, Propellers, Minimally invasive surgery
Record Number:CaltechAUTHORS:20170725-082128250
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170725-082128250
Official Citation:L. Wang, A. D. Ames and M. Egerstedt, "Safe certificate-based maneuvers for teams of quadrotors using differential flatness," 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, Singapore, 2017, pp. 3293-3298. doi: 10.1109/ICRA.2017.7989375 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7989375&isnumber=7988677
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:79319
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jul 2017 16:16
Last Modified:25 Jul 2017 16:16

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