Decentralized Safe Path Following for Multiple Quadrotors on Intersecting Paths with Theoretical Guarantees
The research developed a decentralized controller for multiple quadrotors navigating intersecting paths while ensuring collision avoidance and strict adherence to routes. It reformulates Transverse Feedback Linearization as a constrained quadratic program, selectively relaxing only the along-path speed constraint. This guarantees agents converge to their assigned paths without compromising safety or causing attitude singularities.