A composite control barrier function safety filter, running online on a PX4 autopilot from sparse range measurements, modifies acceleration setpoints and avoids obstacles on a real quadrotor in two experiments.
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Embedded Safe Reactive Navigation for Multirotors Systems using Control Barrier Functions
A composite control barrier function safety filter, running online on a PX4 autopilot from sparse range measurements, modifies acceleration setpoints and avoids obstacles on a real quadrotor in two experiments.