BolunDai0216 / DifferentiableOptimizationCBF

[IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions

DifferentiableOptimizationCBF

This repo contains the codebase of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions. For an overview of the paper and a detailed walkthrough of the codebase, please refer to the official paper website.

Citation

To cite our paper, please use the following bibtex

@article{DaiKKGTK23,
  author       = {Bolun Dai and Rooholla Khorrambakht and Prashanth Krishnamurthy and Vin{\'{\i}}cius Gon{\c{c}}alves and Anthony Tzes and Farshad Khorrami},
  title        = {Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions},
  journal      = {{IEEE} Robotics and Automation Letters},
  year         = {2023},
  volume       = {8},
  number       = {9},
  pages        = {5376-5383},
}