TY  - JOUR
PY  - 2024//
TI  - Control barrier functions in multirotors: a safety filter for obstacle avoidance
JO  - Lecture notes in networks and systems
A1  - González-Morgado, Antonio
A1  - Ollero, Anibal
A1  - Heredia, Guillermo
A1  - Marques, Lino
A1  - Santos, Cristina
A1  - Lima, José Luís
A1  - Tardioli, Danilo
A1  - Ferre, Manuel
SP  - 14
EP  - 25
VL  - 978
IS  - 
N2  - 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>
LA  - en
SN  - 2367-3370
UR  - http://dx.doi.org/10.1007/978-3-031-59167-9_2
ID  - ref1
ER  -