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arXiv · 2504.08601

Enabling Safety for Aerial Robots: Planning and Control Architectures

Kaleb Ben Naveed·Devansh R. Agrawal·Daniel M. Cherenson·Haejoon Lee·Alia Gilbert·Hardik Parwana·Vishnu S. Chipade·William Bentz·Dimitra Panagou
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Abstract

Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation under resource constraints, and robustness against adversarial attacks and uncertainties. In this paper, we present the authors' recent work that tackles some of these challenges and highlights key aspects that must be considered to enhance the safety and performance of autonomous aerial systems. All presented approaches are validated through hardware experiments.

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Kaleb Ben Naveed, Devansh R. Agrawal, Daniel M. Cherenson, Haejoon Lee, Alia Gilbert, Hardik Parwana, Vishnu S. Chipade, William Bentz, Dimitra Panagou. 2025-04-11. Enabling Safety for Aerial Robots: Planning and Control Architectures. https://arxiv.org/abs/2504.08601

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