Safety Barrier Certificates for Heterogeneous Quadrotors with Learned Uncertainties

This paper presents Safety Barrier Certificates which ensure teams of differential flatness-based heterogeneous quadrotors achieve collision-free flight under uncertain disturbances. The controller utilizes Incremental Gaussian Processes(IGPs) to learn uncertain disturbances online, and Safety Barrier Certificates are formed based on Exponential Control Barrier Functions(ECBFs) which achieve a great balance on safety and performance. Given a nominal trajectory, the method uses certificates to ensure safety by modifying it in a minimal invasive way. We verify the effectiveness of the proposed method via both theoretical proof and the simulation results.