{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T16:10:02Z","timestamp":1777911002776,"version":"3.51.4"},"reference-count":31,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2024,12,2]],"date-time":"2024-12-02T00:00:00Z","timestamp":1733097600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2026,3]]},"abstract":"<jats:p>In this article, a safety-critical controller and a novel algorithm based on a quadratic program for a class of planar quadrotors are proposed to ensure obstacle avoidance and target attainment. First, we define a circular safe region and design a safety-critical controller based on the control barrier function. Also, the designed controller can guarantee that the planar quadrotor remains within the safe region and eventually reaches the center of the safe region. Second, we design an algorithm to generate a sequence of safe regions that progressively approach the target point. With the designed controller, the planar quadrotor gradually reaches the center of each safe region and eventually reaches the target point. Finally, the effectiveness of the proposed controller and algorithm is verified through two simulation experiments.<\/jats:p>","DOI":"10.1177\/01423312241289991","type":"journal-article","created":{"date-parts":[[2024,12,3]],"date-time":"2024-12-03T02:16:22Z","timestamp":1733192182000},"page":"809-821","update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Obstacle avoidance and target attainment of planar quadrotors via control barrier function"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/2.zoppoz.workers.dev:443\/https\/orcid.org\/0009-0007-1378-4333","authenticated-orcid":false,"given":"Bilin","family":"Chang","sequence":"first","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lijun","family":"Long","sequence":"additional","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang, China"},{"name":"Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, China"},{"name":"State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2024,12,2]]},"reference":[{"key":"e_1_3_2_2_1","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2019.8796030"},{"key":"e_1_3_2_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7040372"},{"key":"e_1_3_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2016.2638961"},{"key":"e_1_3_2_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2020.105974"},{"key":"e_1_3_2_6_1","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2019.8865866"},{"key":"e_1_3_2_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/HNICEM.2014.7016260"},{"key":"e_1_3_2_8_1","article-title":"Deadlock analysis and resolution in multi-robot systems: The two robot case","author":"Grover J","year":"2019","unstructured":"Grover J, Liu C, Sycara K (2019) Deadlock analysis and resolution in multi-robot systems: The two robot case. arXiv preprint arXiv:1911.09146.","journal-title":"arXiv preprint arXiv:1911.09146"},{"key":"e_1_3_2_9_1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.7464"},{"key":"e_1_3_2_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2022.3164234"},{"key":"e_1_3_2_11_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2024.106906"},{"key":"e_1_3_2_12_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22145350"},{"key":"e_1_3_2_13_1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.7226"},{"key":"e_1_3_2_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11768-022-00080-4"},{"key":"e_1_3_2_15_1","first-page":"1387","article-title":"Safety-critical control and optimization of nonlinear systems based on new forms of CLF\u2013CBF\u2013QP","volume":"39","author":"Long L","year":"2022","unstructured":"Long L, Hu T (2022) Safety-critical control and optimization of nonlinear systems based on new forms of CLF\u2013CBF\u2013QP. Control Theory & Applications 39: 1387\u20131396.","journal-title":"Control Theory & Applications"},{"key":"e_1_3_2_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2024.105886"},{"key":"e_1_3_2_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2022.105176"},{"key":"e_1_3_2_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509452"},{"key":"e_1_3_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/LCSYS.2021.3089097"},{"key":"e_1_3_2_20_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11768-019-8179-5"},{"key":"e_1_3_2_21_1","doi-asserted-by":"publisher","DOI":"10.23919\/ACC55779.2023.10156095"},{"key":"e_1_3_2_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3142730"},{"key":"e_1_3_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2023.3292810"},{"key":"e_1_3_2_24_1","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.7478"},{"key":"e_1_3_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7525253"},{"key":"e_1_3_2_26_1","doi-asserted-by":"publisher","DOI":"10.1177\/00202940221115634"},{"key":"e_1_3_2_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029455"},{"key":"e_1_3_2_28_1","doi-asserted-by":"publisher","DOI":"10.1177\/01423312231185423"},{"key":"e_1_3_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2504042"},{"key":"e_1_3_2_30_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-016-9094-1"},{"key":"e_1_3_2_31_1","doi-asserted-by":"publisher","DOI":"10.23919\/ACC50511.2021.9482626"},{"key":"e_1_3_2_32_1","doi-asserted-by":"publisher","DOI":"10.1177\/01423312211067291"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312241289991","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/journals.sagepub.com\/doi\/full-xml\/10.1177\/01423312241289991","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/journals.sagepub.com\/doi\/pdf\/10.1177\/01423312241289991","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T15:12:20Z","timestamp":1777648340000},"score":1,"resource":{"primary":{"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/journals.sagepub.com\/doi\/10.1177\/01423312241289991"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,2]]},"references-count":31,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2026,3]]}},"alternative-id":["10.1177\/01423312241289991"],"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.1177\/01423312241289991","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,2]]}}}