Formal Verification of Octorotor Flight Envelope Using Barrier Functions and Satisfiability Modulo Theories Solving

This letter introduces a novel approach that combines the use of exponential barrier functions and satisfiability modulo theories solving to the formal safety analysis of flight controllers. Specifically, exponential barrier functions are used to construct candidate invariant regions and proofs of invariance are constructed using satisfiability modulo theories solving. This approach is demonstrated by analyzing safety properties related to command tracking and operation in cases of rotor failures on an octorotor platform.