• Corpus ID: 235694206

Formal verification of octorotor flight envelope using barrier functions and SMT solving

  title={Formal verification of octorotor flight envelope using barrier functions and SMT solving},
  author={Byron Heersink and Pape Sylla and Michael A. Warren},
This paper introduces an approach for formally verifying the safety of the flight controller of an octorotor platform. Our method involves finding regions of the octorotor’s state space that are considered safe, and which can be proven to be invariant with respect to the dynamics. Specifically, exponential barrier functions are used to construct candidate invariant regions near desired commanded states. The proof that these regions are invariant is discovered automatically using the dReal SMT… 

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