SOURCE-LINKED INTELLIGENCE
Escape-Aware Control Barrier Functions for Quadrotor Safety under Body-Rate Limits
Control barrier functions for input-constrained systems place the admissible input set inside the definition of the safe set, yet the resulting barrier is almost always a function of the state alone; On a quadrotor this is not cosmetic: because the thrust vector must be reoriented before it can decelerate an approach, and reorientation is limited by the attainable body rate, a state-only barrier certifies states from which no escape is reachable in time; We characterize the certification gap in closed form and show its width is proportional to closing speed and inversely proportional to the bo
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-15T15:06:37.000Z
First collected: 2026-09-20T08:40:59.508Z. This is not the publication date.