/learning-cbfs

Code needed to reproduce the examples found in "Learning Control Barrier Functions from Expert Demonstrations," by A. Robey, H. Hu, L. Lindemann, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, https://arxiv.org/abs/2004.03315

Primary LanguageJupyter Notebook

learning-cbfs

This repository contains the code needed to reproduce the examples found in

A. Robey, H. Hu, L. Lindemann, H. Zhang, D. V. Dimarogonas, S. Tu, and N. Matni, Learning Control Barrier Functions from Expert Demonstrations

  • The code needed to replicate the planar example of Section 4.0.1 is found in the notebook planar-example.ipynb.
  • The code needed to replicate the airplane example of Section 4.0.2 is found in the folder airplane_example
  • For those interested in generating their own training data, we have included the airplane simulator in the Sim folder: please see the Readme in that folder for further instructions!