Trust your supervisor: quadrotor obstacle avoidance using controlled invariant sets

Luigi Pannocchi,Tzanis Anevlavis,Paulo Tabuada,Luigi Pannocchi,Tzanis Anevlavis,Paulo Tabuada

Supervision of a nominal controller, to enforce safety, is concerned with appropriately modifying the generated control inputs, if needed, in order to keep a control system within a set of safe states. An integral component in supervision is a controlled invariant set contained in the set of safe states. In this paper, we build on recent results on the computation of polytopic controlled invariant...