Decentralized Safe Path Following for Multiple Quadrotors on Intersecting Paths with Theoretical Guarantees
Abstract
This paper studies decentralized safe path following for multiple quadrotors on intersecting paths, where safety requires both collision avoidance and strict adherence to pre-assigned routes. The proposed controller reformulates transverse feedback linearization as a constrained quadratic program with four equality constraints: two enforce convergence to and strict adherence to the path, and two prescribe the desired speed and heading. Safety is achieved by relaxing only the along-path speed constraint, while the path and heading constraints remain hard. Under the stated assumptions, and for admissible initial conditions, the controller guarantees that all agents converge to and thereafter follow their assigned paths, avoid collisions, and avoid attitude singularities. We evaluate the controller in the Drake physics engine on non-planar intersecting paths and compare it against two nominal-plus-safety-filter cascades. Code and additional results are available at https://gradslab.github.io/safe_multiquad_pf/.
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BibTeX
@misc{tariq2026decentralized,
title = {{Decentralized Safe Path Following for Multiple Quadrotors on Intersecting Paths with Theoretical Guarantees}},
author = {Hamza Tariq and Adeel Akhtar},
howpublished = {arXiv},
year = {2026},
month = oct,
doi = {10.48550/arxiv.2610.00208},
eprint = {2610.00208},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2610.00208},
}
RIS
TY - UNPB
TI - Decentralized Safe Path Following for Multiple Quadrotors on Intersecting Paths with Theoretical Guarantees
AU - Hamza Tariq
AU - Adeel Akhtar
PY - 2026
DA - 2026/10/01
PB - arXiv
DO - 10.48550/arxiv.2610.00208
UR - https://arxiv.org/abs/2610.00208
AB - This paper studies decentralized safe path following for multiple quadrotors on intersecting paths, where safety requires both collision avoidance and strict adherence to pre-assigned routes. The proposed controller reformulates transverse feedback linearization as a constrained quadratic program with four equality constraints: two enforce convergence to and strict adherence to the path, and two prescribe the desired speed and heading. Safety is achieved by relaxing only the along-path speed constraint, while the path and heading constraints remain hard. Under the stated assumptions, and for admissible initial conditions, the controller guarantees that all agents converge to and thereafter follow their assigned paths, avoid collisions, and avoid attitude singularities. We evaluate the controller in the Drake physics engine on non-planar intersecting paths and compare it against two nominal-plus-safety-filter cascades. Code and additional results are available at https://gradslab.github.io/safe_multiquad_pf/.
ER -