Research paper

Planar quadrotors · Barrier control that accounts for orientation

An augmented barrier accounts for orientation and nonlinear underactuated dynamics. Sequential QPs combine stabilization and safety constraints; numerical cases cover static and moving obstacles.

Reviewed 2026-11-05 · Source and bibliography checked

Bibliographic details and the editorial overview were checked against the original source. Access conditions and editions are identified with the source.

Original title: Safety-critical control of a planar quadrotor
Publisher: IEEE
Authors: Guofan Wu, Koushil Sreenath
DOI: 10.1109/acc.2016.7525253
Publication date: 2016-07
Source language: en
Edition: 2016 American Control Conference (ACC); 2016-07; DOI 10.1109/acc.2016.7525253
Access: Publisher metadata and open author manuscript
Publication status: Published

Related resources and engineering notes

Turn each safety function into evidence

Source overview

An augmented barrier accounts for orientation and nonlinear underactuated dynamics. Sequential QPs combine stabilization and safety constraints; numerical cases cover static and moving obstacles.

Use and review

Author abstract and bibliography checked. Evidence is numerical; physical flight, sensing and disturbance conditions require separate validation.

Sources & editions

Safety-critical control of a planar quadrotor ↗

IEEE · 2016 American Control Conference (ACC); 2016-07; DOI 10.1109/acc.2016.7525253

ACC2016 author manuscript https://hybrid-robotics.berkeley.edu/publications/ACC2016_Safety_Control_Planar_Quadrotor.pdf; DOI10.1109/ACC.2016.7525253.