2025/02/06 by Marvin Harms, Harms, Marvin, Martin Jacquet +3 · 1 citation
Computer Science · Engineering · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Underwater Vehicles and Communication Systems
paper · pdf · doi:10.48550/arxiv.2502.04101
openalex publication_date 2025/02/06 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear representation of the robot's dynamics. We analyze the recursive feasibility of the safety filter under the composite constraint and demonstrate that the infeasible set is negligible. The proposed method allows computational scalability against thousands of constraints and, thus, complex scenes with numerous obstacles. We experimentally demonstrate its ability to guarantee the safety of a quadrotor with an onboard LiDAR, operating in both indoor and outdoor cluttered environments against both naive and adversarial nominal policies.