This paper presents a feasibility-enhanced control barrier function (FECBF) framework for multi-UAV collision avoidance. In dense multi-UAV scenarios, the feasibility of the CBF quadratic program (CBF-QP) can be compromised due to internal incompatibility among multiple CBF constraints. To address this issue, we analyze the internal compatibility of CBF constraints and derive a sufficient condition for internal compatibility. Based on this condition, a sign-consistency constraint is introduced to mitigate internal incompatibility. The proposed constraint is incorporated into a decentralized CBF-QP formulation using worst-case estimates and slack variables. Simulation results demonstrate that the proposed method significantly reduces infeasibility and improves collision avoidance performance compared with existing baselines in dense scenarios. Additional simulations under varying time delays demonstrate the robustness of the proposed method. Real-world experiments validate the practical applicability of the proposed method.

翻译：本文提出了一种用于多无人机避碰的可行性增强控制屏障函数框架。在密集的多无人机场景中，由于多个CBF约束之间的内部不兼容性，CBF二次规划问题的可行性可能会受到影响。为解决此问题，我们分析了CBF约束的内部兼容性，并推导了内部兼容性的一个充分条件。基于此条件，引入了一个符号一致性约束以缓解内部不兼容性。所提出的约束通过使用最坏情况估计和松弛变量，被纳入一个去中心化的CBF-QP公式中。仿真结果表明，在密集场景下，与现有基线方法相比，所提方法显著降低了不可行性并提升了避碰性能。在不同时间延迟下的额外仿真验证了所提方法的鲁棒性。真实世界实验验证了所提方法的实际适用性。