This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear representation of the robot's dynamics. We analyze the recursive feasibility of the safety filter under the composite constraint and demonstrate that the infeasible set is negligible. The proposed method allows computational scalability against thousands of constraints and, thus, complex scenes with numerous obstacles. We experimentally demonstrate its ability to guarantee the safety of a quadrotor with an onboard LiDAR, operating in both indoor and outdoor cluttered environments against both naive and adversarial nominal policies.

Autonomous robot navigation can be particularly demanding, especially when the surrounding environment is not known and safety of the robot is crucial. This work relates to the synthesis of Control Barrier Functions (CBFs) through data for safe navigation in unknown environments. A novel methodology to jointly learn CBFs and corresponding safe controllers, in simulation, inspired by the State Dependent Riccati Equation (SDRE) is proposed. The CBF is used to obtain admissible commands from any nominal, possibly unsafe controller. An approach to apply the CBF inside a safety filter without the need for a consistent map or position estimate is developed. Subsequently, the resulting reactive safety filter is deployed on a multirotor platform integrating a LiDAR sensor both in simulation and real-world experiments.