Collision-Free Coordination for Quadrotors Based on Differential Flatness

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dc.contributor.authorLin, Q.
dc.contributor.authorMiao, Z.
dc.contributor.authorWang, X.
dc.contributor.authorHe, W.
dc.contributor.authorWang, Y.
dc.contributor.authorShi, P.
dc.date.issued2025
dc.descriptionAvailable online 11 July 2025. OnlinePubl
dc.description.abstractThe inherent instability and underactuated nature of quadrotors present formidable challenges in achieving collision-free, safe, and stable flight amongmultiple units. Predominant solutions often depend on optimization techniques requiring extensive computational resources or simplify the quadrotor model to a second-order integrator with safety constraints, which may lead to nonsmooth and nondifferentiable trajectories. This article presents a novel formation planning methodology that combines differential flatness technology with control barrier functions, achieving a superior balance between cooperative control and obstacle avoidance. Initially, a formation feedback controller that omits obstacle considerations is developed to generate nominal trajectories for the quadrotors. The methodology progresses by applying exponential control barrier functions to the control inputs of a differential flatness model, ensuring compliance with safety constraints. Using endogenous transformation, these constrained inputs are then converted into the requisite thrust and torque for the quadrotors. The effectiveness and advantages of this novel approach are demonstrated through extensive simulations and experimental validation. Experiment videos: https://youtu.be/2sLnGQMI2SI.
dc.description.statementofresponsibilityQiong Lin, Zhiqiang Miao, Xiangke Wang, Wei He, Yaonan Wang, and Peng Shi
dc.identifier.citationIEEE transactions on industrial electronics (1982. Print), 2025; 1-12
dc.identifier.doi10.1109/TIE.2025.3579101
dc.identifier.issn0278-0046
dc.identifier.issn1557-9948
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.urihttps://hdl.handle.net/2440/147732
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.granthttp://purl.org/au-research/grants/arc/DP240101140
dc.rights© 2025 IEEE. All rights reserved, including rights for text and data mining, and training of artificial intelligence and similar technologies. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.
dc.source.urihttps://doi.org/10.1109/tie.2025.3579101
dc.subjectCollision avoidance; differential flatness; exponential control barrier function; quadrotors
dc.titleCollision-Free Coordination for Quadrotors Based on Differential Flatness
dc.typeJournal article
pubs.publication-statusPublished online

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