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RISTrajectory Planning and Tracking Using Decoupled CBF-QPs for Safe Navigation of Quadrotors
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Control barrier function-based quadratic program (CBF-QP) provides an avenue for agile and numerically efficient obstacle avoidance algorithms. However, the CBF-QP methods may lead to lengthy detours and undesirable avoidance ...