Control Barrier Functions (CBFs) for Quadrotors. Based on hocherie/2d_grid_playground for dynamics simulator, nominal controllers, range sensing.
Accompanying Lecture for Air Lab Summer School 2020: PDF Slides
Please install pyenv, if not already. Instructions. Specifically, follow (1) build dependecies and (2) Using the pyenv-installer.
git clone https://github.com/hocherie/cbf_quadrotor.git # Clone Repo
cd cbf_quadrotor # Navigate to folder
$ pyenv install -v 3.7.2 # Install Python
$ pyenv virtualenv 3.7.2 safety-cbf # Make Virtual Environment
$ pyenv local safety-cbf # Activate virtual env
$ pip install -r requirements.txt # Install dependencies
Cherie Ho (cherieh@cs.cmu.edu)
Mohammadreza Mousaei (mmousaei@andrew.cmu.edu)
Kate Shih (kshih@andrew.cmu.edu)