A single composite control barrier function over all obstacle constraints can safely filter quadrotor commands online, with a formal proof that infeasible configurations form only a zero-volume set.
Barrier functions in cascaded controller: Safe quadrotor control,
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Safe Quadrotor Navigation using Composite Control Barrier Functions
A single composite control barrier function over all obstacle constraints can safely filter quadrotor commands online, with a formal proof that infeasible configurations form only a zero-volume set.