Safe multi-agent drone control using control barrier functions and acceleration fields

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Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami

Published: 2024, Last Modified: 06 Mar 2025Robotics Auton. Syst. 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•A lightweight control scheme for coordinating multiple drones is proposed.•The controller uses control barrier functions to generate target accelerations.•Formal results for the controller are provided.•Validated in real experiments and simulations.