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This work presents a convex optimization framework for the planning andtracking of quadcopter trajectories with continuous-time safety guarantees.Using B-spline basis functions and the differential flatness property ofquadcopters, a second-order cone program is formulated to generate optimaltrajectories that respect safe state and input constraints in thecontinuous-time sense. A quadratic program (QP) based on control barrierfunctions is proposed to guarantee bounded trajectory tracking in continuoustime by filtering a nominal controller, where the QP is shown to be alwaysfeasible. Furthermore, conditions that ensure the safe tracking controllerrespects thrust, roll angle, and pitch angle constraints are also proposed. Theeffectiveness of the proposed framework is demonstrated by real-worldexperiments using a Crazyflie2.1 nano quadcopter.

Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees