基于分布式导航函数的四旋翼无人机安全关键控制
Safety-Critical Control for Quadrotor UAVs via Decentralized Navigation Functions
AI总结：
针对学习到的模型不确定性下的四旋翼无人机团队，提出基于分布式导航函数的安全关键控制方法，构造推力-姿态实现并设计聚合鲁棒HOCBF-QP安全滤波器，实现高概率两两避碰。
AI中文摘要：
我们研究在学习到的模型不确定性下，由分布式导航函数驱动的四旋翼无人机团队的安全关键控制。这些函数生成全驱动的平移参考力，而四旋翼只能沿自身固连的垂直轴产生推力。我们构造了诱导导航力的推力-姿态实现，并量化其相对于全驱动参考动力学的误差。聚合鲁棒HOCBF-QP安全滤波器以最小程度修改标称推力，同时保证高概率的两两避碰。
英文摘要：
We study safety-critical control for teams of quadrotor UAVs driven by decentralized navigation functions under learned model uncertainty. These functions generate fully actuated translational reference forces, while quadrotors can only produce thrust along their body-fixed vertical axes. We construct a thrust-attitude implementation of the induced navigation forces and quantify its error with respect to the fully actuated reference dynamics. An aggregated robust HOCBF-QP safety filter minimally modifies the nominal thrusts while guaranteeing pairwise collision avoidance with high probability.
