# A Safety Planning and Control Architecture Applied to a Quadrotor Autopilot

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W4312930837](https://www.wikidata.org/wiki/openalex:W4312930837)  
**Source**: https://4ort.xyz/entity/a-safety-planning-and-control-architecture-applied-to-a-quadrotor-autopilot