Repository of supporting code and videos for the publication (currently under review)
Safe and Robust Observer-Controller Synthesis using Control Barrier Functions Devansh Agrawal and Dimitra Panagou
Code for the simulation study is available in the /src/ folder.
The crazyflie firmware is available here: https://github.com/dasc-lab/crazyswarm/tree/internal_safety_filter
and specifically, the main safety controller is here: https://github.com/dasc-lab/crazyswarm/blob/internal_safety_filter/crazyflie-firmware/src/modules/src/controller_geometric.c