@article{ref1,
title="Control barrier functions in multirotors: a safety filter for obstacle avoidance",
journal="Lecture notes in networks and systems",
year="2024",
author="González-Morgado, Antonio and Ollero, Anibal and Heredia, Guillermo and Marques, Lino and Santos, Cristina and Lima, José Luís and Tardioli, Danilo and Ferre, Manuel",
volume="978",
number="",
pages="14-25",
abstract="Robot 2023: Sixth Iberian Robotics Conference  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.<p /> <p>Language: en</p>",
language="en",
issn="2367-3370",
doi="10.1007/978-3-031-59167-9_2",
url="http://dx.doi.org/10.1007/978-3-031-59167-9_2"
}