This paper develops a Control Barrier Function (CBF)-based safety filter, extended from safety barrier certificates originally designed for simple double integrator systems, to achieve collision-free reconfiguration of multiple satellites in formation. The proposed decentralized framework integrates observer-based relative state estimation with CBF-based safety filtering, enabling each satellite to assess potential collisions with neighboring satellites based on relative position and velocity measurements. Safe control inputs are computed in real time by solving a decentralized quadratic program, which minimally modifies the nominal control to enforce safety constraints while relying solely on local sensor information. A numerical simulation of eight satellites initially placed at the vertices of a cube and reconfigured by swapping positions with their diagonal counterparts validates the effectiveness of the proposed approach.
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Jihyeok Kim
Hancheol Cho
IFAC-PapersOnLine
Yonsei University
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Kim et al. (Wed,) studied this question.
www.synapsesocial.com/papers/69a76752badf0bb9e87e075d — DOI: https://doi.org/10.1016/j.ifacol.2026.01.070
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