报告详情
  1. 活动首页
  2. 报告清单
  3. 报告详情
Safety-Critical Control of Multi-QUAVs via ER-CBF
编号：37 访问权限：仅限参会人 更新：2026-09-18 14:02:53 浏览：7次 张贴报告

报告开始：暂无开始时间（Asia/Shanghai）

报告时间：暂无持续时间

所在会场：[暂无会议] [暂无会议段]

暂无文件

摘要
This paper presents a safety-critical control scheme for multiple quadrotor unmanned aerial vehicles (multi-QUAVs) to achieve collision avoidance in complex flight environments via the control barrier function (CBF) method. An efficient reduced-order control barrier function (ER-CBF) method is proposed, where the necessity of safety constraint activation is determined by integrating the reaction distance derived from the reduced-order control barrier function (RO-CBF) constraint and the relative motion tendency between QUAVs. By activating safety constraints only when potential collision risks are detected, the proposed method significantly improves the online computational efficiency of the quadratic programming (QP) optimization problem. Moreover, the proposed method significantly simplifies the complexity of constructing safety constraints and is effectively applied to multi-QUAVs collision avoidance
control. Simulation results verify the effectiveness and superiority of the proposed method,
demonstrating its capability to maintain safe relative distances while achieving improved error
convergence performance and fewer active safety constraints.
关键词
Safety-Critical Control,Control Barrier Function,Quadratic Programming,Multiple Quadrotor Unmanned Aerial Vehicles
报告人
Lan Duo
Ph.D. Student Harbin Institute of Technology

稿件作者
Lan Duo Harbin Institute of Technology
yin hongtao Harbin Institute of Technology
Ping Fu Harbin Institute of Technology
Ang Li Harbin Institute of Technology
发表评论
验证码 看不清楚，更换一张
全部评论
重要日期

  • 会议日期

    11月06日

    2026

    至

    11月08日

    2026

  • 10月15日 2026

    初稿截稿日期

主办单位
IEEE Instrumentation and Measurement Society
承办单位
Sichuan University
联系方式
登录查看完整联系方式
历届会议
移动端
在手机上打开
小程序
打开微信小程序
客服
扫码或点此咨询