Research paper
Quadrotor teams · Filtering nominal trajectories with certificates
CBF-based certificates modify differential-flatness trajectories to avoid collisions while preserving nominal plans where possible. Experiments with five quadrotors evaluate compatibility with existing planning and flight control.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Safe certificate-based maneuvers for teams of quadrotors using differential flatness
- Publisher
- IEEE
- Authors
- Li Wang, Aaron D. Ames, Magnus Egerstedt
- DOI
- 10.1109/icra.2017.7989375
- Publication date
- 2017-05
- Source language
- en
- Edition
- 2017 IEEE International Conference on Robotics and Automation (ICRA); 2017-05; DOI 10.1109/icra.2017.7989375
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
CBF-based certificates modify differential-flatness trajectories to avoid collisions while preserving nominal plans where possible. Experiments with five quadrotors evaluate compatibility with existing planning and flight control.
Use and review
Institutional abstract and bibliography checked. Dynamics, tracking and separation assumptions require separate assessment in deployment.
Sources & editions
Safe certificate-based maneuvers for teams of quadrotors using differential flatness ↗
IEEE · 2017 IEEE International Conference on Robotics and Automation (ICRA); 2017-05; DOI 10.1109/icra.2017.7989375
ICRA2017 abstract https://authors.library.caltech.edu/records/3zecw-km009 and https://ames.caltech.edu/wang2017safe.pdf.