Research paper
Reactive UAV control · Searching for closed-loop barrier certificates
Sums-of-squares computation searches for safety certificates for an aircraft output-feedback controller. Rational approximations of nonsmooth dynamics and multiple barriers represent the modeled obstacles.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates
- Publisher
- IEEE
- Authors
- Andrew J. Barry, Anirudha Majumdar, Russ Tedrake
- DOI
- 10.1109/icra.2012.6225351
- Publication date
- 2012-05
- Source language
- en
- Edition
- 2012 IEEE International Conference on Robotics and Automation; 2012-05; DOI 10.1109/icra.2012.6225351
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
Sums-of-squares computation searches for safety certificates for an aircraft output-feedback controller. Rational approximations of nonsmooth dynamics and multiple barriers represent the modeled obstacles.
Use and review
Institutional abstract and bibliography checked. Certificates apply to the approximated model and environment, not arbitrary unknown scenes or hardware.
Sources & editions
Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates ↗
IEEE · 2012 IEEE International Conference on Robotics and Automation; 2012-05; DOI 10.1109/icra.2012.6225351
ICRA2012 abstract https://collaborate.princeton.edu/en/publications/safety-verification-of-reactive-controllers-for-uav-flight-in-clu/ and author paper https://groups.csail.mit.edu/robotics-center/public_papers/Barry12.pdf.