Paper is available online.
The implementation has been tested in Google Colab.
To reproduce two case studies in the paper, please go to two folders (adaptive-cruise-control and aircrafts-collision-avoidance) and run the included notebook files respectively.
The trained models are saved in Models folder.
To implement a general framework instead of just case-specifics.
If you find this work useful, please consider citing:
@article{yang2022differentiable,
title={Differentiable safe controller design through control barrier functions},
author={Yang, Shuo and Chen, Shaoru and Preciado, Victor M and Mangharam, Rahul},
journal={IEEE Control Systems Letters},
volume={7},
pages={1207--1212},
year={2022},
publisher={IEEE}
}