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

arXiv: https://arxiv.org/abs/1702.01075 · HTML: https://mlsanity.com/paper/1702.01075/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Feb 2017.

## Built on by (most cited first, 5 of 5)

- [Safety Aware Task Planning via Large Language Models in Robotics](https://mlsanity.com/paper/2503.15707/) (2025)
- [Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors](https://mlsanity.com/paper/2103.03793/) (2021)
- [Gaussian Control Barrier Functions : A Non-Parametric Paradigm to Safety](https://mlsanity.com/paper/2203.15474/) (2022)
- [Geometry of Radial Basis Neural Networks for Safety Biased Approximation of Unsafe Regions](https://mlsanity.com/paper/2210.05596/) (2022)
- [Barrier Function Overrides For Non-Convex Fixed Wing Flight Control and Self-Driving Cars](https://mlsanity.com/paper/2505.05548/) (2025)

## Abstract (arXiv)

Safety Barrier Certificates that ensure collision-free maneuvers for teams of differential flatness-based quadrotors are presented in this paper. Synthesized with control barrier functions, the certificates are used to modify the nominal trajectory in a minimally invasive way to avoid collisions. The proposed collision avoidance strategy complements existing flight control and planning algorithms by providing trajectory modifications with provable safety guarantees. The effectiveness of this strategy is supported both by the theoretical results and experimental validation on a team of five quadrotors.