control-barrier-functions

There are 26 repositories under control-barrier-functions topic.

  • HybridRobotics/CBF-CLF-Helper

    Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

    Language:MATLAB23451158

  • HybridRobotics/NMPC-DCLF-DCBF

    A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

    Language:MATLAB1947646

  • HybridRobotics/MPC-CBF

    "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

    1913243

  • HybridRobotics/car-racing

    A toolkit for testing control and planning algorithm for car racing.

    Language:Python1627628

  • elena-ecn/mpc-cbf

    Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.

    Language:Python911417

  • Weixy21/BarrierNet

    Safe robot learning

    Language:Python513113

  • MizuhoAOKI/control_barrier_function

    control barrier function examples

    Language:Jupyter Notebook34101

  • mahaitongdae/safe_exp_env

    Thrid-party safety-gym safe exploration environments for autonomous driving. Also environment used for IROS 2021 paper: Model-based Constrained Reinforcement Learning using Generalized Control Barrier Function

    Language:Python27215

  • shaoanlu/mppi_cbf

    Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax to accelerate computation.

    Language:Jupyter Notebook27208

  • HybridRobotics/CBF-Pointwise-Feasibility

    "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf

    Language:MATLAB241010

  • buntonj/CLF-CBF-QP

    Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.

    Language:MATLAB222115

  • Berk-Tosun/cbf-cartpole

    Various Control Barrier Functions realized on cartpole.

    Language:Python19114

  • Safety-Critical-Control-WIRIN/sccav_cbf

    Safety Critical Control of Autonomous Vehicles by Control Barrier Functions

    Language:Python9124

  • Weixy21/InvarianceNODE

    On the forward invariance of Neural ODEs: performance guarantees for policy learning

    Language:Python8222

  • Berk-Tosun/cbf_segway

    Control barrier functions implemented through python via pybullet.

    Language:Jupyter Notebook6100

  • JohannesAutenrieb/CBF_ACC

    This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions in the context of adaptive cruise control.

    Language:MATLAB6102

  • JohannesAutenrieb/CBF_Obstacle_Avoidance

    This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.

    Language:MATLAB62

  • shuoyang2000/neural_hybrid_cbf

    Code for "Learning Local Control Barrier Functions for Safety Control of Hybrid Systems" by S. Yang, Y. Chen, X. Yin, R. Mangharam

    Language:Python6100

  • JohannesAutenrieb/1D_MPC_CBF

    The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.

    Language:MATLAB5101

  • Vikr-182/uap-bev

    UAP-BEV: Uncertainty Aware Planning in Bird's Eye View Generated from Monocular Images (CASE 2023)

    5101

  • davidvwijk/EconCBF

    Optimal Control Theory and Stochastic Control Barrier Functions applied to Economics and Finance

    Language:Python2201

  • gianni0907/crowd_navigation_tiago

    Repository containing a Python implementation of a sensor-based scheme for safe TIAGo navigation in a crowd

    Language:Python2200

  • lihanlian/simple-mpc-cbf

    Simple scripts that are used for solving motion planning & obstacle avoidance problem via MPC and control barrier function.

    Language:Jupyter Notebook20

  • rfgzuid/Capstone

    Safe reinforcement learning with stochastic control barrier functions (TI3165TU Capstone project 2023-2024)

    Language:Jupyter Notebook1310

  • Weixy21/Event-CBF

    Safety-critical control for systems with unknown dynamics

    Language:MATLAB1100

  • tmgerst/Control_Barrier_Functions_for_Elastic_Actuators

    Code for my bachelor thesis on "Control Barrier Functions for Learning-Based Regulation of Elastic Actuators with State Constraints".

    Language:MATLAB00