
The proposed cascaded scheme of Model Predictive Control with Control Barrier Functions and Dynamic Feedback Linearization enables safe and efficient navigation of underactuated VTOL-UAVs by converting the nonlinear system into a linear equivalent model.


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safe-navigation-of-vertical-take-off-and-landing-unmanned-aerial-vehicles-using-model-predictive-control-with-control-barrier-functions


Safe Navigation of Vertical Take-off and Landing Unmanned Aerial Vehicles using Model Predictive Control with Control Barrier Functions
