An edge-based hybrid control architecture using time-varying control barrier functions is proposed for safe coordination of aerial-ground robot teams, including drone landing on moving ground robots.
Guaranteed obstacle avoidance for multi-robot operations with limited actuation: A control barrier function approach,
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Barriers on the EDGE: A scalable CBF architecture over EDGE for safe aerial-ground multi-agent coordination
An edge-based hybrid control architecture using time-varying control barrier functions is proposed for safe coordination of aerial-ground robot teams, including drone landing on moving ground robots.