Predictive Control Barrier Function for Octagonal Position Constraint Enforcement of Multicopter

Predictive Control Barrier Functions (PCBF) applied to Multicopter Lateral Flight for Octagonal Position Constraint Enforcement. The PCBF is only applied at the output of the outer-loop controller. This is part of work submitted to ACC 2026.

The code used to create this animation is available in https://github.com/JAParedes/Multicopter_Lateral_Flight_Animation

Original video link: https://youtu.be/4y087R8wWaE