Feasibility and Singularity in High-Order Safety-Critical Control for Quadrotor UAVs

arXiv:2609.19362 · eess.SY, cs.RO, cs.SY, math.OC · Submitted 2026-09-16 · Read on arXiv

eess.SY, cs.RO, cs.SY, math.OC

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Robustness — 4× in this paper · explained in 5 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• American Control Conference — 1× in this paper
• Conference on Decision and Control — 1× in this paper
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Degeneracy — 1× in this paper · explained in 3 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Multi-Agent System — 1× in this paper · explained in 5 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Uncertainty Quantification — 1× in this paper · explained in 8 episodes

Sources

• FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
• Safety-Critical Control for Quadrotor UAVs via Decentralized Navigation Functions

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