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Safety Barrier Certificates that ensure collision-free maneuvers for teams ofdifferential flatness-based quadrotors are presented in this paper. Synthesizedwith control barrier functions, the certificates are used to modify the nominaltrajectory in a minimally invasive way to avoid collisions. The proposedcollision avoidance strategy complements existing flight control and planningalgorithms by providing trajectory modifications with provable safetyguarantees. The effectiveness of this strategy is supported both by thetheoretical results and experimental validation on a team of five quadrotors.

Safe Certificate-Based Maneuvers for Teams of Quadrotors Using Differential Flatness