CBF for full drone dynamics

This project focuses on developing a safety-aware control framework for quadrotor drones operating in cluttered environments. A nonlinear geometric controller was implemented to enable aggressive trajectory tracking, and a Collision Cone Control Barrier Function (C3BF) was integrated as a real-time safety filter to prevent collisions without modifying the nominal control structure. The system was evaluated in NVIDIA Isaac Sim using the Pegasus simulator across multiple obstacle configurations, including close-proximity and high-risk scenarios. While the baseline controller resulted in direct collisions, the C3BF-augmented controller consistently maintained safe separation distances with minimal impact on tracking performance. Detailed analysis using tracking, safety, and computational metrics demonstrates that the proposed approach provides a lightweight, modular, and practical solution for real-time UAV safety in complex environments.