# Readiness Barrier Functions: Forward-Invariant Control Authority for Overactuated Multirotor Allocation

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/oooewklpq2o76f7b7slnxqtyn
- Original: https://arxiv.org/abs/2608.16335

## Summary

This paper proposes enforcing a control barrier function at the torque level via a quadratic program in the allocation null space, keeping the control authority of an overactuated multirotor forward-invariant. In simulations of a hexarotor and a fully actuated octorotor, across 300 randomized tasks, the greedy maximization scheme violated the certified lower bound in up to 51% of authority-scarce tasks, whereas the proposed filter never left the certified set, and in the hardest torque-reversal scenario the torque error was 79 times smaller; the robust variant maintained the lower bound on all 150 perturbed objects.