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Safety-Critical Control of Multi-QUAVs via ER-CBF
ID：37 View Protection：ATTENDEE Updated Time：2026-09-18 14:02:53 Hits：19 Poster Presentation

Start Time：Pending（Asia/Shanghai）

Duration：Pending

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Abstract
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.
Keywords
Safety-Critical Control,Control Barrier Function,Quadratic Programming,Multiple Quadrotor Unmanned Aerial Vehicles
Speaker
Lan Duo
Ph.D. Student Harbin Institute of Technology

Submission Author
Lan Duo Harbin Institute of Technology
yin hongtao Harbin Institute of Technology
Ping Fu Harbin Institute of Technology
Ang Li Harbin Institute of Technology
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Important Date

  • Conference Date

    Nov 06

    2026

    to

    Nov 08

    2026

  • Oct 21 2026

    Draft paper submission deadline

Sponsored By
IEEE Instrumentation and Measurement Society
Organized By
Sichuan University
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