Safe multi-agent drone control using control barrier functions and acceleration fields

Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami

Research output: Contribution to journalArticlepeer-review


The objective of this article is to develop real-time controllers for positioning multi-agent autonomous platforms (specifically drones) without any collisions. The framework is divided in two controllers. The first, based on control barrier functions and quadratic programming, is an acceleration field, that computes an acceleration for each position and velocity of the system that guides the agents towards the goal while avoiding obstacles and inter-collisions. The second controls the agents’ total thrusts and angular velocities to track the previously-defined acceleration profiles. We show formal guarantees for both controllers, and simulation and experimental studies are used to show the efficacy of the proposed approach.

Original languageEnglish (US)
Article number104601
JournalRobotics and Autonomous Systems
StatePublished - Feb 2024


  • Control barrier functions
  • Multi-agent systems
  • Obstacle avoidance
  • Optimization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications


Dive into the research topics of 'Safe multi-agent drone control using control barrier functions and acceleration fields'. Together they form a unique fingerprint.

Cite this