Abstract
Similar to the Control Lyapunov Functions (CLFs), whose objective is to achieve the stability of a system, Control Barrier Functions (CBFs) aim to achieve the safety of a system. They serve as a safety filter that guarantees that the system remains in a defined safety region. This article aims at presenting an introductory overview of the theoretical framework of CBFs and of their application. For doing this, we apply the CBFs framework as a safety filter for obstacle avoidance in the XY movement of a multirotor. The safety filter is designed using two different multirotor models, a single integrator model without considering the inertia of the system and a first-order model that captures the dynamics of a velocity control loop. The proposed safety framework is validated with simulations in Matlab and experiments with indoor flights. The results show the importance of correctly modeling the system.
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Videos of the experiments, https://hdvirtual.us.es/discovirt/index.php/s/sCQcrzk-PRbDWK9y
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Acknowledgment
This work has been supported by the MARTIN project, grant PID2022-143267OB-I00, funded by MCIN/AEI/ 10.13039/501100011033 and by ERDF A way of making Europe, and by the AEROTRAIN Marie Sklodowska-Curie (MSCA-ITN-2020-953454) and SIMAR (HE-CL4-2021-101070604) projects, funded by the European Union. We thank Carlos Álvarez and Mercedes Barral for their collaboration during this work.
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González-Morgado, A., Ollero, A., Heredia, G. (2024). Control Barrier Functions in Multirotors: A Safety Filter for Obstacle Avoidance. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 978. Springer, Cham. https://doi.org/10.1007/978-3-031-59167-9_2
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