Paper Info
Title
Onboard Safety Guarantees for Racing Drones: High-Speed Geofencing With Control Barrier Functions
Abstract
This letter details the theory and implementation behind practically ensuring safety of remotely piloted racing drones. We demonstrate robust and practical safety guarantees on a 7 '' racing drone at speeds exceeding 100 km/h, utilizing only online computations on a 10 g micro-controller. To achieve this goal, we utilize the framework of control barrier functions (CBEs) which give guaranteed safety encoded as forward set invariance. To make this methodology practically applicable, we present an implicitly defined CBF which leverages backup controllers to enable gradient-free evaluations that ensure safety. The method applied to hardware results in smooth, minimally conservative alterations of the pilots' desired inputs, enabling them to push the limits of their drone without fear of crashing. Moreover, the method works in conjunction with the preexisting flight controller, resulting in unaltered flight when there are no nearby safety risks. Additional benefits include safety and stability of the drone when losing line-of-sight or in the event of radio failure.
Year
DOI
Venue
2022
10.1109/LRA.2022.3144777
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Robot safety, aerial systems: mechanics and control
Journal
7
Issue
ISSN
Citations 
2
2377-3766
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Andrew Singletary110.72
Aiden Swann200.34
Yuxiao Chen313.42
Aaron D. Ames41202136.68