微分フラットネスを用いたクアッドロータチームの安全証明書に基づく機動
Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness
制御バリア関数に基づく安全バリア証明書で、複数クアッドロータの衝突回避軌道を最小限の修正で生成し、5機の実験で有効性を示した論文。
著者: Li Wang, Aaron D. Ames, Magnus Egerstedt
分類: cs.RO
原文アブストラクト
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.
